相关论文: Continuous 3D Perception Model with Persistent Sta…

Streaming 3D perception is well suited to robotics and augmented reality, where long visual streams must be processed efficiently and consistently. Recent recurrent models offer a promising solution by maintaining fixed-size states and…

Dense 3D scene reconstruction from an ordered sequence or unordered image collections is a critical step when bringing research in computer vision into practical scenarios. Following the paradigm introduced by DUSt3R, which unifies an image…

We present STream3R, a novel approach to 3D reconstruction that reformulates pointmap prediction as a decoder-only Transformer problem. Existing state-of-the-art methods for multi-view reconstruction either depend on expensive global…

Reconstructing surgical scenes from monocular endoscopic video is critical for advancing robotic-assisted surgery. However, the application of state-of-the-art general-purpose reconstruction models is constrained by two key challenges: the…

Recent stateful recurrent neural networks have achieved remarkable progress on static 3D reconstruction but remain vulnerable to motion-induced artifacts, where non-rigid regions corrupt attention propagation between the spatial memory and…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…

Streaming 3D reconstruction maintains a persistent latent state that is updated online from incoming frames, enabling constant-memory inference. A key failure mode is the state update rule: aggressive overwrites forget useful history, while…

Streaming recurrent models enable efficient 3D reconstruction by maintaining persistent state representations. However, they suffer from catastrophic forgetting over long sequences due to balancing historical information with new…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

We introduce G-CUT3R, a novel feed-forward approach for guided 3D scene reconstruction that enhances the CUT3R model by integrating prior information. Unlike existing feed-forward methods that rely solely on input images, our method…

Recent advancements in multi-view scene reconstruction have been significant, yet existing methods face limitations when processing streams of input images. These methods either rely on time-consuming offline optimization or are restricted…

Dense 3D reconstruction from continuous image streams requires both accurate geometric aggregation and stable long-term memory management. Recent feed-forward reconstruction frameworks integrate observations through persistent memory…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

Despite increasingly realistic image quality, recent 3D image generative models often operate on 3D volumes of fixed extent with limited camera motions. We investigate the task of unconditionally synthesizing unbounded nature scenes,…

Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

We propose a novel online, point-based 3D reconstruction method from posed monocular RGB videos. Our model maintains a global point cloud representation of the scene, continuously updating the features and 3D locations of points as new…

Online monocular 3D reconstruction enables dense scene recovery from streaming video but remains fundamentally limited by the stability-adaptation dilemma: the reconstruction model must rapidly incorporate novel viewpoints while preserving…

We present Edit3r, a feed-forward framework that reconstructs and edits 3D scenes in a single pass from unposed, view-inconsistent, instruction-edited images. Unlike prior methods requiring per-scene optimization, Edit3r directly predicts…