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Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…
Representing 3D scenes from multiview images is a core challenge in computer vision and graphics, which requires both precise rendering and accurate reconstruction. Recently, 3D Gaussian Splatting (3DGS) has garnered significant attention…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…
Most recent advances in 3D generative modeling rely on diffusion or flow-matching formulations. We instead explore a fully autoregressive alternative and introduce GaussianGPT, a transformer-based model that directly generates 3D Gaussians…
Streaming 3D reconstruction aims to recover 3D information, such as camera poses and point clouds, from a video stream, which necessitates geometric accuracy, temporal consistency, and computational efficiency. Motivated by the principles…
In computed tomography (CT), the projection geometry used for data acquisition needs to be known precisely to obtain a clear reconstructed image. Rigid patient motion is a cause for misalignment between measured data and employed geometry.…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
This paper presents a biomechanically interpretable framework for gait analysis using 3D human reconstruction from video data. Unlike conventional keypoint based approaches, the proposed method extracts biomechanically meaningful markers…
With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…
A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…
Accurate real-time traffic forecasting is a core technological problem against the implementation of the intelligent transportation system. However, it remains challenging considering the complex spatial and temporal dependencies among…
Exploiting relations among 2D joints plays a crucial role yet remains semi-developed in 2D-to-3D pose estimation. To alleviate this issue, we propose GraFormer, a novel transformer architecture combined with graph convolution for 3D pose…
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…
Feed-forward 3D reconstruction models, represented by Visual Geometry Grounded Transformer (VGGT), jointly predict multiple visual geometry tasks such as depth estimation, camera pose prediction, and point cloud reconstruction in a single…
Point cloud completion aims to recover accurate global geometry and preserve fine-grained local details from partial point clouds. Conventional methods typically predict unseen points directly from 3D point cloud coordinates or use…
Prior ReLoc3R achieves breakthrough performance with fast 25ms inference and state-of-the-art regression accuracy, yet our analysis reveals subtle geometric inconsistencies in its internal representations that prevent reaching the precision…
This paper proposes GraviCap, i.e., a new approach for joint markerless 3D human motion capture and object trajectory estimation from monocular RGB videos. We focus on scenes with objects partially observed during a free flight. In contrast…
Estimating positions of world points from features observed in images is a key problem in 3D reconstruction, image mosaicking,simultaneous localization and mapping and structure from motion. We consider a special instance in which there is…
Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…