相关论文: SurgCUT3R: Surgical Scene-Aware Continuous Underst…

Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achieving scale-consistent reconstruction remains an open…

We introduce G-CUT3R, a novel feed-forward approach for guided 3D scene reconstruction that enhances the CUT3R model by integrating prior information. Unlike existing feed-forward methods that rely solely on input images, our method…

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…

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…

Streaming 3D perception is well suited to robotics and augmented reality, where long visual streams must be processed efficiently and consistently. Recent recurrent models offer a promising solution by maintaining fixed-size states and…

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…

Online monocular 3D reconstruction enables dense scene recovery from streaming video but remains fundamentally limited by the stability-adaptation dilemma: the reconstruction model must rapidly incorporate novel viewpoints while preserving…

Recent advancements in multi-view scene reconstruction have been significant, yet existing methods face limitations when processing streams of input images. These methods either rely on time-consuming offline optimization or are restricted…

Panoptic segmentation of 3D scenes, involving the segmentation and classification of object instances in a dense 3D reconstruction of a scene, is a challenging problem, especially when relying solely on unposed 2D images. Existing…

Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…

This paper addresses the task of large-scale 3D scene reconstruction from long video sequences. Recent feed-forward reconstruction models have shown promising results by directly regressing 3D geometry from RGB images without explicit 3D…

Simultaneous understanding and 3D reconstruction plays an important role in developing end-to-end embodied intelligent systems. To achieve this, recent approaches resort to 2D-to-3D feature alignment paradigm, which leads to limited 3D…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…

Multi-view 3D reconstruction has remained an essential yet challenging problem in the field of computer vision. While DUSt3R and its successors have achieved breakthroughs in 3D reconstruction from unposed images, these methods exhibit…

Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…

Novel view synthesis from monocular videos of dynamic scenes with unknown camera poses remains a fundamental challenge in computer vision and graphics. While recent advances in 3D representations such as Neural Radiance Fields (NeRF) and 3D…

Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view…

The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on…