相关论文: Rig3R: Rig-Aware Conditioning for Learned 3D Recon…

We present WinT3R, a feed-forward reconstruction model capable of online prediction of precise camera poses and high-quality point maps. Previous methods suffer from a trade-off between reconstruction quality and real-time performance. To…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

Due to the lack of depth cues in images, multi-frame inputs are important for the success of vision-based perception, prediction, and planning in autonomous driving. Observations from different angles enable the recovery of 3D object states…

Despite significant progress in 4D generation, rig and motion, the core structural and dynamic components of animation are typically modeled as separate problems. Existing pipelines rely on ground-truth skeletons and skinning weights for…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D…

We present RigAnything, a novel autoregressive transformer-based model, which makes 3D assets rig-ready by probabilistically generating joints and skeleton topologies and assigning skinning weights in a template-free manner. Unlike most…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

Modern Recurrent Neural Networks have become a competitive architecture for 3D reconstruction due to their linear-time complexity. However, their performance degrades significantly when applied beyond the training context length, revealing…

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…

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…

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…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Panoptic segmentation of 3D scenes, involving the segmentation and classification of object instances in a dense 3D reconstruction of a scene, is a challenging problem, especially when relying solely on unposed 2D images. Existing…

3D shape completion has broad applications in robotics, digital twin reconstruction, and extended reality (XR). Although recent advances in 3D object and scene completion have achieved impressive results, existing methods lack 3D…