相关论文: PointSt3R: Point Tracking through 3D Grounded Corr…

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…

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…

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…

In recent years, 3D visual foundation models pioneered by pointmap-based approaches such as DUSt3R have attracted a lot of interest, achieving impressive accuracy and strong generalization across diverse scenes. However, these methods are…

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…

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…

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,…

Reconstructing scenes and tracking motion are two sides of the same coin. Tracking points allow for geometric reconstruction [14], while geometric reconstruction of (dynamic) scenes allows for 3D tracking of points over time [24, 39]. The…

Standard RGB-D trackers treat the target as an inherently 2D structure, which makes modelling appearance changes related even to simple out-of-plane rotation highly challenging. We address this limitation by proposing a novel long-term…

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…

Most state-of-the-art point trackers are trained on synthetic data due to the difficulty of annotating real videos for this task. However, this can result in suboptimal performance due to the statistical gap between synthetic and real…

Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which is impractical in many applications.…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…

Structure and continuous motion estimation from point correspondences is a fundamental problem in computer vision that has been powered by well-known algorithms such as the familiar 5-point or 8-point algorithm. However, despite their…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…

Feed-forward 3D reconstruction models such as DUSt3R, VGGT, and Depth Anything 3 (DA3) are transformer-based foundation models that infer camera geometry and dense scene structure in a single forward pass. Trained at scale in a supervised…

Seeking consistent point-to-point correspondences between 3D rigid data (point clouds, meshes, or depth maps) is a fundamental problem in 3D computer vision. While a number of correspondence selection methods have been proposed in recent…