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

Transformer-based 3D reconstruction has emerged as a powerful paradigm for recovering geometry and appearance from multi-view observations, offering strong performance across challenging visual conditions. As these models scale to larger…

Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…

Feed-forward 3D reconstruction models based on Vision Transformers can directly estimate scene geometry and camera poses from a small set of input images, but scaling them to video inputs with hundreds or thousands of frames remains…

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…

With recent advances, Feed-forward Reconstruction Models (FFRMs) have demonstrated great potential in reconstruction quality and adaptiveness to multiple downstream tasks. However, the excessive reliance on multi-view geometric annotations,…

Recent trends in sparse-view 3D reconstruction have taken two different paths: feed-forward reconstruction that predicts pixel-aligned point maps without a complete geometry, and generative 3D reconstruction that generates complete geometry…

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…

Recovering the 3D geometry of a scene from a sparse set of uncalibrated images is a long-standing problem in computer vision. While recent learning-based approaches such as DUSt3R and MASt3R have demonstrated impressive results by directly…

3D super-resolution (3DSR) aims to reconstruct high-resolution (HR) 3D scenes from low-resolution (LR) multi-view images. Existing methods rely on dense LR inputs and per-scene optimization, which restricts the high-frequency priors for…

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…

We present PreF3R, Pose-Free Feed-forward 3D Reconstruction from an image sequence of variable length. Unlike previous approaches, PreF3R removes the need for camera calibration and reconstructs the 3D Gaussian field within a canonical…

Modeling 3D articulated objects with realistic geometry, textures, and kinematics is essential for a wide range of applications. However, existing optimization-based reconstruction methods often require dense multi-view inputs and expensive…

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,…

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…

We present STream3R, a novel approach to 3D reconstruction that reformulates pointmap prediction as a decoder-only Transformer problem. Existing state-of-the-art methods for multi-view reconstruction either depend on expensive global…

We introduce $\pi^3$, a feed-forward neural network that offers a novel approach to visual geometry reconstruction, breaking the reliance on a conventional fixed reference view. Previous methods often anchor their reconstructions to 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…

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…

Geometric foundation models hold promise for unconstrained dense geometry prediction from uncalibrated images. However, in current feed-forward designs, their predicted confidence scores are heuristic, lack probabilistic interpretation, and…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…