Related papers: VGGT-$\Omega$

Transformer-based general visual geometry frameworks have shown promising performance in camera pose estimation and 3D scene understanding. Recent advancements in Visual Geometry Grounded Transformer (VGGT) models have shown great promise…

We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only uncalibrated monocular cameras. While related works align…

General 3D foundation models have started to lead the trend of unifying diverse vision tasks, yet most assume RGB-only inputs and ignore readily available geometric cues (e.g., camera intrinsics, poses, and depth maps). To address this…

Streaming Visual Geometry Transformers such as StreamVGGT enable strong online 3D perception, but their KV-cache grows unbounded over long streams, limiting practical deployment. We revisit bounded-memory streaming from the perspective of…

3D instance segmentation methods typically rely on high-quality point clouds or posed RGB-D scans, requiring complex multi-stage processing pipelines, and are highly sensitive to reconstruction noise. While recent feed-forward transformers…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

Learning-based 3D visual geometry models have significantly advanced with the advent of large-scale transformers. Among these, StreamVGGT leverages frame-wise causal attention to deliver robust and efficient streaming 3D reconstruction.…

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, extending these models to large-scale RGB stream 3D reconstruction remains challenging due to memory limitations. In this work, we…

Perceiving and reconstructing 3D geometry from videos is a fundamental yet challenging computer vision task. To facilitate interactive and low-latency applications, we propose a streaming visual geometry transformer that shares a similar…

World models that forecast scene evolution by generating future video frames devote the bulk of their capacity to photometric details, yet the resulting predictions often remain geometrically inconsistent. We present VGGT-World, a geometry…

Models such as VGGT and $\pi^3$ have shown strong multi-view 3D performance, but their heavy reliance on global self-attention results in high computational cost. Existing sparse-attention variants offer partial speedups, yet lack a…

Large Vision Language Models (VLMs) effectively bridge the modality gap through extensive pretraining, acquiring sophisticated visual representations aligned with language. However, it remains underexplored whether these representations,…

The grand vision of enabling persistent, large-scale 3D visual geometry understanding is shackled by the irreconcilable demands of scalability and long-term stability. While offline models like VGGT achieve inspiring geometry capability,…

Current multi-view indoor 3D object detectors rely on sensor geometry that is costly to obtain (i.e., precisely calibrated multi-view camera poses) to fuse multi-view information into a global scene representation, limiting deployment in…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

Panoramic imagery offers a full 360{\deg} field of view and is increasingly common in consumer devices. However, it introduces non-pinhole distortions that challenge joint pose estimation and 3D reconstruction. Existing feed-forward models,…

We present a fast, spatio-temporal scene understanding framework based on Visual Geometry Grounded Transformer (VGGT). The proposed pipeline is designed to enable efficient, close to real-time performance, supporting applications including…

3D change detection from multi-view images is essential for urban monitoring, disaster assessment, and autonomous driving. However, existing methods predominantly operate in the 2D domain, where viewpoint variations are mistaken for…

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this…