相关论文: ReScene4D: Temporally Consistent Semantic Instance…
The availability of large-scale multimodal datasets and advancements in diffusion models have significantly accelerated progress in 4D content generation. Most prior approaches rely on multiple image or video diffusion models, utilizing…
We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly applicable to scenarios with real-time constraints, such as…
Current generative models struggle to synthesize dynamic 4D driving scenes that simultaneously support temporal extrapolation and spatial novel view synthesis (NVS) without per-scene optimization. A key challenge lies in finding an…
Person re-identification (Re-ID) aims to match pedestrians under dis-joint cameras. Most Re-ID methods formulate it as visual representation learning and image search, and its accuracy is consequently affected greatly by the search space.…
Dynamic scenes rendering is an intriguing yet challenging problem. Although current methods based on NeRF have achieved satisfactory performance, they still can not reach real-time levels. Recently, 3D Gaussian Splatting (3DGS) has garnered…
Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…
Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…
Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…
Urban scene reconstruction is critical for autonomous driving, enabling structured 3D representations for data synthesis and closed-loop testing. Supervised approaches rely on costly human annotations and lack scalability, while current…
A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…
We present Inst4DGS, an instance-decomposed 4D Gaussian Splatting (4DGS) approach with long-horizon per-Gaussian trajectories. While dynamic 4DGS has advanced rapidly, instance-decomposed 4DGS remains underexplored, largely due to the…
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…
We study the problem of synthesizing immersive 3D indoor scenes from one or more images. Our aim is to generate high-resolution images and videos from novel viewpoints, including viewpoints that extrapolate far beyond the input images while…
Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still…
Accurately perceiving and tracking instances over time is essential for the decision-making processes of autonomous agents interacting safely in dynamic environments. With this intention, we propose Mask4Former for the challenging task of…
3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…
Realistic reconstruction of dynamic 4D scenes from monocular videos is essential for understanding the physical world. Despite recent progress in neural rendering, existing methods often struggle to recover accurate 3D geometry and…
In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…
Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…
The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…