相关论文: SIU3R: Simultaneous Scene Understanding and 3D Rec…

Recent advances in vision foundation models have revolutionized geometry reconstruction and semantic understanding. Yet, most of the existing approaches treat these capabilities in isolation, leading to redundant pipelines and compounded…

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…

Recent advances in 2D-to-3D perception have enabled the recovery of 3D scene semantics from unposed images. However, prevailing methods often suffer from limited generalization, reliance on per-scene optimization, and semantic…

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…

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…

Despite recent advances in feed-forward 3D Gaussian Splatting, generalizable 3D reconstruction remains challenging, particularly in multi-view correspondence modeling. Existing approaches face a fundamental trade-off: explicit methods…

We present NOVA3R, an effective approach for non-pixel-aligned 3D reconstruction from a set of unposed images in a feed-forward manner. Unlike pixel-aligned methods that tie geometry to per-ray predictions, our formulation learns a global,…

We present Pow3r, a novel large 3D vision regression model that is highly versatile in the input modalities it accepts. Unlike previous feed-forward models that lack any mechanism to exploit known camera or scene priors at test time, Pow3r…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

We present Spann3R, a novel approach for dense 3D reconstruction from ordered or unordered image collections. Built on the DUSt3R paradigm, Spann3R uses a transformer-based architecture to directly regress pointmaps from images without any…

Dense matching methods like DUSt3R regress pairwise pointmaps for 3D reconstruction. However, the reliance on pairwise prediction and the limited generalization capability inherently restrict the global geometric consistency. In this work,…

We present Light3R-SfM, a feed-forward, end-to-end learnable framework for efficient large-scale Structure-from-Motion (SfM) from unconstrained image collections. Unlike existing SfM solutions that rely on costly matching and global…

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…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

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…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Estimating agent pose and 3D scene structure from multi-camera rigs is a central task in embodied AI applications such as autonomous driving. Recent learned approaches such as DUSt3R have shown impressive performance in multiview settings.…

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…

In this paper, we introduce NAS3R, a self-supervised feed-forward framework that jointly learns explicit 3D geometry and camera parameters with no ground-truth annotations and no pretrained priors. During training, NAS3R reconstructs 3D…

3D image reconstruction from a limited number of 2D images has been a long-standing challenge in computer vision and image analysis. While deep learning-based approaches have achieved impressive performance in this area, existing deep…