相关论文: PanSt3R: Multi-view Consistent Panoptic Segmentati…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

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…

Multi-view stereo reconstruction (MVS) in the wild requires to first estimate the camera parameters e.g. intrinsic and extrinsic parameters. These are usually tedious and cumbersome to obtain, yet they are mandatory to triangulate…

Recent sparse multi-view scene reconstruction advances like DUSt3R and MASt3R no longer require camera calibration and camera pose estimation. However, they only process a pair of views at a time to infer pixel-aligned pointmaps. When…

Panoptic segmentation is a fundamental task in computer vision and a crucial component for perception in autonomous vehicles. Recent mask-transformer-based methods achieve impressive performance on standard benchmarks but face significant…

Recovering the 3D geometry of a scene from a sparse set of uncalibrated images is a long-standing problem in computer vision. While recent learning-based approaches such as DUSt3R and MASt3R have demonstrated impressive results by directly…

Multi-view 3D reconstruction remains a core challenge in computer vision, particularly in applications requiring accurate and scalable representations across diverse perspectives. Current leading methods such as DUSt3R employ a…

Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

Multi-view 3D reconstruction has remained an essential yet challenging problem in the field of computer vision. While DUSt3R and its successors have achieved breakthroughs in 3D reconstruction from unposed images, these methods exhibit…

Image segmentation for video analysis plays an essential role in different research fields such as smart city, healthcare, computer vision and geoscience, and remote sensing applications. In this regard, a significant effort has been…

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…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

DUSt3R introduced a novel paradigm in geometric computer vision by proposing a model that can provide dense and unconstrained Stereo 3D Reconstruction of arbitrary image collections with no prior information about camera calibration nor…

This paper presents a unified framework for depth-aware panoptic segmentation (DPS), which aims to reconstruct 3D scene with instance-level semantics from one single image. Prior works address this problem by simply adding a dense depth…

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present…