相关论文: Multi-View Pose-Agnostic Change Localization with …

In this work, we introduce a generative approach for pose-free (without camera parameters) reconstruction of 360 scenes from a sparse set of 2D images. Pose-free scene reconstruction from incomplete, pose-free observations is usually…

Ensuring safety in autonomous driving is a complex challenge requiring handling unknown objects and unforeseen driving scenarios. We develop multiscale video transformers capable of detecting unknown objects using only motion cues. Video…

This paper presents an efficient symmetry-agnostic and correspondence-free framework, referred to as SC6D, for 6D object pose estimation from a single monocular RGB image. SC6D requires neither the 3D CAD model of the object nor any prior…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving.…

The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

We introduce NoPoSplat, a feed-forward model capable of reconstructing 3D scenes parameterized by 3D Gaussians from \textit{unposed} sparse multi-view images. Our model, trained exclusively with photometric loss, achieves real-time 3D…

With the prosperity of the video surveillance, multiple cameras have been applied to accurately locate pedestrians in a specific area. However, previous methods rely on the human-labeled annotations in every video frame and camera view,…

In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection…

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised…

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

3D Gaussian Splatting (3D-GS) enables real-time 3D scene reconstruction but lacks robust segmentation for editing tasks such as object removal, extraction, and recoloring. Existing approaches that lift 2D segmentations to the 3D domain…

Novel view synthesis has shown rapid progress recently, with methods capable of producing increasingly photorealistic results. 3D Gaussian Splatting has emerged as a promising method, producing high-quality renderings of scenes and enabling…

In this work, we tackle the challenging problem of category-level object pose and size estimation from a single depth image. Although previous fully-supervised works have demonstrated promising performance, collecting ground-truth pose…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…

The vast amount of unlabeled multi-temporal and multi-sensor remote sensing data acquired by the many Earth Observation satellites present a challenge for change detection. Recently, many generative model-based methods have been proposed…

Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…

Visual localization, i.e., the problem of camera pose estimation, is a central component of applications such as autonomous robots and augmented reality systems. A dominant approach in the literature, shown to scale to large scenes and to…