相关论文: WinT3R: Window-Based Streaming Reconstruction with…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

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…

3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…

We present Fin3R, a simple, effective, and general fine-tuning method for feed-forward 3D reconstruction models. The family of feed-forward reconstruction model regresses pointmap of all input images to a reference frame coordinate system,…

Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…

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,…

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 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…

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…

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…

Current multi-view 3D reconstruction methods rely on accurate camera calibration and pose estimation, requiring complex and time-intensive pre-processing that hinders their practical deployment. To address this challenge, we introduce…

Recent advances in DUSt3R have enabled robust estimation of dense point clouds and camera parameters of static scenes, leveraging Transformer network architectures and direct supervision on large-scale 3D datasets. In contrast, the limited…

Recovering dense 3D geometry from unposed images remains a foundational challenge in computer vision. Current state-of-the-art models are predominantly trained on perspective datasets, which implicitly constrains them to a standard pinhole…

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…

We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is robust on in-the-wild video sequences despite making no…

While recent feed-forward 3D reconstruction models accelerate 3D reconstruction by jointly inferring dense geometry and camera poses in a single pass, their reliance on dense attention imposes a quadratic complexity, creating a prohibitive…

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…

Novel view synthesis from monocular videos of dynamic scenes with unknown camera poses remains a fundamental challenge in computer vision and graphics. While recent advances in 3D representations such as Neural Radiance Fields (NeRF) and 3D…

In this paper, we introduce Splatt3R, a pose-free, feed-forward method for in-the-wild 3D reconstruction and novel view synthesis from stereo pairs. Given uncalibrated natural images, Splatt3R can predict 3D Gaussian Splats without…

Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…