相关论文: EFM3D: A Benchmark for Measuring Progress Towards …

Spatial intelligence, encompassing 3D reconstruction, perception, and reasoning, is fundamental to applications such as robotics, aerial imaging, and extended reality. A key enabler is the real-time, accurate estimation of core 3D…

We present EgoHumans, a new multi-view multi-human video benchmark to advance the state-of-the-art of egocentric human 3D pose estimation and tracking. Existing egocentric benchmarks either capture single subject or indoor-only scenarios,…

AI personal assistants deployed via robots or wearables require embodied understanding to collaborate with humans effectively. However, current Vision-Language Models (VLMs) primarily focus on third-person view videos, neglecting the…

Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…

Understanding 3D spatial relationships remains a major limitation of current Vision-Language Models (VLMs). Prior work has addressed this issue by creating spatial question-answering (QA) datasets based on single images or indoor videos.…

We present EgoFun3D, a coordinated task formulation, dataset, and benchmark for modeling interactive 3D objects from egocentric videos. Interactive objects are of high interest for embodied AI but scarce, making modeling from readily…

Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…

Egocentric visual query localization is vital for embodied AI and VR/AR, yet remains challenging due to camera motion, viewpoint changes, and appearance variations. We present EAGLE, a novel framework that leverages episodic appearance- and…

Deep Learning (DL) models have been widely deployed on IoT devices with the help of advancements in DL algorithms and chips. However, the limited resources of edge devices make these on-device DL models hard to be generalizable to diverse…

The lifting of 3D structure and camera from 2D landmarks is at the cornerstone of the entire discipline of computer vision. Traditional methods have been confined to specific rigid objects, such as those in Perspective-n-Point (PnP)…

Egocentric, or first-person vision which became popular in recent years with an emerge in wearable technology, is different than exocentric (third-person) vision in some distinguishable ways, one of which being that the camera wearer is…

People continuously perceive and interact with their surroundings based on underlying intentions that drive their exploration and behaviors. While research in egocentric user and scene understanding has focused primarily on motion and…

In this paper we present EgoLifter, a novel system that can automatically segment scenes captured from egocentric sensors into a complete decomposition of individual 3D objects. The system is specifically designed for egocentric data where…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

In recent years, great progress has been made in the Lift-Splat-Shot-based (LSS-based) 3D object detection method. However, inaccurate depth estimation remains an important constraint to the accuracy of camera-only and multi-model 3D object…

Egocentric motion capture with a head-mounted body-facing stereo camera is crucial for VR and AR applications but presents significant challenges such as heavy occlusions and limited annotated real-world data. Existing methods rely on…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

With the recent advances in video and 3D understanding, novel 4D spatio-temporal methods fusing both concepts have emerged. Towards this direction, the Ego4D Episodic Memory Benchmark proposed a task for Visual Queries with 3D Localization…

We present EgoCOL, an egocentric camera pose estimation method for open-world 3D object localization. Our method leverages sparse camera pose reconstructions in a two-fold manner, video and scan independently, to estimate the camera pose of…

Foundation Models (FMs) are large-scale, pre-trained artificial intelligence (AI) systems that have revolutionized natural language processing and computer vision, and are now advancing geospatial analysis and Earth Observation (EO). They…