相关论文: AMB3R: Accurate Feed-forward Metric-scale 3D Recon…

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…

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…

We present Wid3R, a feed-forward neural network for multi-view visual geometry reconstruction that supports wide field-of-view camera models. Unlike existing methods that assume rectified or pinhole inputs, Wid3R directly models wide-angle…

Accurate Digital Surface Model (DSM) reconstruction from satellite imagery is critical for applications such as disaster response, urban planning, and large-scale geographic mapping. Existing approaches face a fundamental trade-off:…

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…

We introduce G-CUT3R, a novel feed-forward approach for guided 3D scene reconstruction that enhances the CUT3R model by integrating prior information. Unlike existing feed-forward methods that rely solely on input images, our method…

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…

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…

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,…

We introduce MapAnything, a unified transformer-based feed-forward model that ingests one or more images along with optional geometric inputs such as camera intrinsics, poses, depth, or partial reconstructions, and then directly regresses…

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…

Recent feed-forward geometry foundation models have demonstrated impressive generalization by recovering depth and poses in a single forward pass. However, these models are typically constrained by a global coordinate frame assumption. This…

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 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…

This paper addresses metric 3D reconstruction of indoor scenes by exploiting their inherent geometric regularities with compact representations. Using planar 3D primitives - a well-suited representation for man-made environments - we…

Streaming reconstruction from uncalibrated monocular video remains challenging, as it requires both high-precision pose estimation and computationally efficient online refinement in dynamic environments. While coupling 3D foundation models…

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…

In this paper, we introduce SLAM3R, a novel and effective system for real-time, high-quality, dense 3D reconstruction using RGB videos. SLAM3R provides an end-to-end solution by seamlessly integrating local 3D reconstruction and global…

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…

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…