相关论文: OVGGT: O(1) Constant-Cost Streaming Visual Geometr…
Novel view synthesis (NVS) is increasingly relevant for edge robotics, where compact and incrementally updatable 3D scene models are needed for SLAM, navigation, and inspection under tight memory and latency budgets. Variational Bayesian…
Visual Geometry Grounded Transformer (VGGT) delivers state-of-the-art feed-forward 3D reconstruction, yet its global self-attention layer suffers from a drastic collapse phenomenon when the input sequence exceeds a few hundred frames:…
Dynamic scene reconstruction in autonomous driving remains a fundamental challenge due to significant temporal variations, moving objects, and complex scene dynamics. Existing feed-forward 3D models have demonstrated strong performance in…
Autoregressive models have achieved remarkable success across various domains, yet their performance in 3D shape generation lags significantly behind that of diffusion models. In this paper, we introduce OctGPT, a novel multiscale…
Reconstructing coherent 3D geometry and appearance from unposed multi-view images is a fundamental yet challenging problem in computer vision. Most existing visual geometry foundation models predict explicit geometry by regressing…
Reconstructing dynamic 4D scenes is challenging, as it requires robust disentanglement of dynamic objects from the static background. While 3D foundation models like VGGT provide accurate 3D geometry, their performance drops markedly when…
Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…
We present a scalable 3D reconstruction model that addresses a critical limitation in offline feed-forward methods: their computational and memory requirements grow quadratically w.r.t. the number of input images. Our approach is built on…
Streaming video understanding requires models to robustly encode, store, and retrieve information from a continuous video stream to support accurate video question answering (VQA). Existing state-of-the-art approaches rely on key-value…
Video Temporal Grounding (VTG), the task of localizing video segments from text queries, struggles in open-world settings due to limited dataset scale and semantic diversity, causing performance gaps between common and rare concepts. To…
3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…
Feed-forward surround-view autonomous driving scene reconstruction offers fast, generalizable inference ability, which faces the core challenge of ensuring generalization while elevating novel view quality. Due to the surround-view with…
We introduce the Visual Implicit Geometry Transformer (ViGT), an autonomous driving geometric model that estimates continuous 3D occupancy fields from surround-view camera rigs. ViGT represents a step towards foundational geometric models…
Top-leading solutions for Video Scene Graph Generation (VSGG) typically adopt an offline pipeline. Though demonstrating promising performance, they remain unable to handle real-time video streams and consume large GPU memory. Moreover,…
Models such as VGGT and $\pi^3$ have shown strong multi-view 3D performance, but their heavy reliance on global self-attention results in high computational cost. Existing sparse-attention variants offer partial speedups, yet lack a…
Recent trends in Video Instance Segmentation (VIS) have seen a growing reliance on online methods to model complex and lengthy video sequences. However, the degradation of representation and noise accumulation of the online methods,…
Vision-language models (VLMs) could power real-time assistants and autonomous agents, but they face a critical challenge: understanding near-infinite video streams without escalating latency and memory usage. Processing entire videos with…
The advent of 3D Gaussian Splatting (3DGS) has advanced 3D scene reconstruction and novel view synthesis. With the growing interest of interactive applications that need immediate feedback, online 3DGS reconstruction in real-time is in high…
Streaming video understanding requires processing unbounded video streams with limited memory and computation, posing two key challenges. First, continuously constructing new and evicting old key-value(KV) caches is required for unbounded…
In real scenarios, videos can span several minutes or even hours. However, existing research on spatio-temporal video grounding (STVG), given a textual query, mainly focuses on localizing targets in short videos of tens of seconds,…