相关论文: U4D: Unsupervised 4D Dynamic Scene Understanding

Semantic segmentation has been one of the leading research interests in computer vision recently. It serves as a perception foundation for many fields, such as robotics and autonomous driving. The fast development of semantic segmentation…

Learning to understand dynamic 3D scenes from imagery is crucial for applications ranging from robotics to scene reconstruction. Yet, unlike other problems where large-scale supervised training has enabled rapid progress, directly…

Due to the complex and highly dynamic motions in the real world, synthesizing dynamic videos from multi-view inputs for arbitrary viewpoints is challenging. Previous works based on neural radiance field or 3D Gaussian splatting are limited…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

For the semantic segmentation of images, state-of-the-art deep neural networks (DNNs) achieve high segmentation accuracy if that task is restricted to a closed set of classes. However, as of now DNNs have limited ability to operate in an…

This paper aims to tackle the challenge of dynamic view synthesis from multi-view videos. The key observation is that while previous grid-based methods offer consistent rendering, they fall short in capturing appearance details of a complex…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

Despite the impressive progress of telepresence systems for room-scale scenes with static and dynamic scene entities, expanding their capabilities to scenarios with larger dynamic environments beyond a fixed size of a few square-meters…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

Recognizing dynamic scenes is one of the fundamental problems in scene understanding, which categorizes moving scenes such as a forest fire, landslide, or avalanche. While existing methods focus on reliable capturing of static and dynamic…

In the intersection of computer vision and robotic perception, 4D reconstruction of dynamic scenes serve as the critical bridge connecting low-level geometric sensing with high-level semantic understanding. We present DINO\_4D, introducing…

Instance-level change detection in 3D scenes presents significant challenges, particularly in uncontrolled environments lacking labeled image pairs, consistent camera poses, or uniform lighting conditions. This paper addresses these…

Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

Unsupervised localization and segmentation are long-standing computer vision challenges that involve decomposing an image into semantically-meaningful segments without any labeled data. These tasks are particularly interesting in an…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

Temporal modeling and spatio-temporal collaboration are pivotal techniques for video-based human pose estimation. Most state-of-the-art methods adopt optical flow or temporal difference, learning local visual content correspondence across…

The LiDAR-based multi-agent and single-agent perception has shown promising performance in environmental understanding for robots and automated vehicles. However, there is no existing method that simultaneously solves both multi-agent and…