相关论文: Learning Dynamic Scene Reconstruction with Sinusoi…

Some recent visual-based relocalization algorithms rely on deep learning methods to perform camera pose regression from image data. This paper focuses on the loss functions that embed the error between two poses to perform deep learning…

Monocular 3D human pose estimation remains a challenging task due to inherent depth ambiguities and occlusions. Compared to traditional methods based on Transformers or Convolutional Neural Networks (CNNs), recent diffusion-based approaches…

Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…

We present Online3R, a new sequential reconstruction framework that is capable of adapting to new scenes through online learning, effectively resolving inconsistency issues. Specifically, we introduce a set of learnable lightweight visual…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

We introduce a new generative approach for synthesizing 3D geometry and images from single-view collections. Most existing approaches predict volumetric density to render multi-view consistent images. By employing volumetric rendering using…

Recent works on dynamic 3D neural field reconstruction assume the input from synchronized multi-view videos whose poses are known. The input constraints are often not satisfied in real-world setups, making the approach impractical. We show…

When solving inverse problems, one has to deal with numerous potential sources of model inexactnesses, like object motion, calibration errors, or simplified data models. Regularized Sequential Subspace Optimization (ReSeSOp) allows to…

Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…

Existing methods for the 4D reconstruction of general, non-rigidly deforming objects focus on novel-view synthesis and neglect correspondences. However, time consistency enables advanced downstream tasks like 3D editing, motion analysis, or…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…

Accurate and efficient surgical robotic tool pose estimation is of fundamental significance to downstream applications such as augmented reality (AR) in surgical training and learning-based autonomous manipulation. While significant…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In this paper, we present a novel relative geometry-aware Siamese…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…