相关论文: Depth Anything 3: Recovering the Visual Space from…

Video object segmentation methods like SAM2 achieve strong performance through memory-based architectures but struggle under large viewpoint changes due to reliance on appearance features. Traditional 3D instance segmentation methods…

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a…

Depth Anything has achieved remarkable success in monocular depth estimation with strong generalization ability. However, it suffers from temporal inconsistency in videos, hindering its practical applications. Various methods have been…

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…

Recent advances in dense 3D reconstruction have led to significant progress, yet achieving accurate unified geometric prediction remains a major challenge. Most existing methods are limited to predicting a single geometry quantity from…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

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…

This work presents Depth Anything, a highly practical solution for robust monocular depth estimation. Without pursuing novel technical modules, we aim to build a simple yet powerful foundation model dealing with any images under any…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…

The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an affine-invariant disparity map, the favored technique to…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…

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…

3D visual grounding has made notable progress in localizing objects within complex 3D scenes. However, grounding referring expressions beyond objects in 3D scenes remains unexplored. In this paper, we introduce Anywhere3D-Bench, a holistic…