相关论文: 3D Scene Change Modeling With Consistent Multi-Vie…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

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…

We present a novel, training-free approach to scene change detection. Our method leverages tracking models, which inherently perform change detection between consecutive frames of video by identifying common objects and detecting new or…

Instance-level change detection in 3D scenes presents significant challenges, particularly in uncontrolled environments lacking labeled image pairs, consistent camera poses, or uniform lighting conditions. This paper addresses these…

Scene Change Detection is a challenging task in computer vision and robotics that aims to identify differences between two images of the same scene captured at different times. Traditional change detection methods rely on training models…

Maintaining consistent 3D scene representations over time is a significant challenge in computer vision. Updating 3D scenes from sparse-view observations is crucial for various real-world applications, including urban planning, disaster…

Scene change detection is an image processing problem related to partitioning pixels of a digital image into foreground and background regions. Mostly, visual knowledge-based computer intelligent systems, like traffic monitoring, video…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

DETR-based methods, which use multi-layer transformer decoders to refine object queries iteratively, have shown promising performance in 3D indoor object detection. However, the scene point features in the transformer decoder remain fixed,…

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…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Change detection is an important synthetic aperture radar (SAR) application, usually used to detect changes on the ground scene measurements in different moments in time. Traditionally, change detection algorithm (CDA) is mainly designed…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Recent advances in 3D scene representations have enabled high-fidelity novel view synthesis, yet adapting to discrete scene changes and constructing interactive 3D environments remain open challenges in vision and robotics. Existing…

Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…

We present 3DGS-CD, the first 3D Gaussian Splatting (3DGS)-based method for detecting physical object rearrangements in 3D scenes. Our approach estimates 3D object-level changes by comparing two sets of unaligned images taken at different…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…