相关论文: SAB3R: Semantic-Augmented Backbone in 3D Reconstru…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

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…

The recent development in multimodal learning has greatly advanced the research in 3D scene understanding in various real-world tasks such as embodied AI. However, most existing studies are facing two common challenges: 1) they are short of…

Image matching is a key component of modern 3D vision algorithms, essential for accurate scene reconstruction and localization. MASt3R redefines image matching as a 3D task by leveraging DUSt3R and introducing a fast reciprocal matching…

Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…

Simultaneous understanding and 3D reconstruction plays an important role in developing end-to-end embodied intelligent systems. To achieve this, recent approaches resort to 2D-to-3D feature alignment paradigm, which leads to limited 3D…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…

We present a unified framework capable of solving a broad range of 3D tasks. Our approach features a stateful recurrent model that continuously updates its state representation with each new observation. Given a stream of images, this…

3D fragment reassembly aims to recover the rigid poses of unordered fragment point clouds or meshes in a common object coordinate system to reconstruct the complete shape. The problem becomes particularly challenging as the number of…

Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Robust 3D geometry estimation from videos is critical for applications such as autonomous navigation, SLAM, and 3D scene reconstruction. Recent methods like DUSt3R demonstrate that regressing dense pointmaps from image pairs enables…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

Large Reconstruction Models have made significant strides in the realm of automated 3D content generation from single or multiple input images. Despite their success, these models often produce 3D meshes with geometric inaccuracies,…

Reconstructing dynamic 3D scenes (i.e., 4D geometry) from monocular video is an important yet challenging problem. Conventional multiview geometry-based approaches often struggle with dynamic motion, whereas recent learning-based methods…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…