相关论文: MonoArt: Progressive Structural Reasoning for Mono…

Given a single image of a general object such as a chair, could we also restore its articulated 3D shape similar to human modeling, so as to animate its plausible articulations and diverse motions? This is an interesting new question that…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

Reconstructing accurate 3D scenes from images is a long-standing vision task. Due to the ill-posedness of the single-image reconstruction problem, most well-established methods are built upon multi-view geometry. State-of-the-art (SOTA)…

State-of-the-art learning-based monocular 3D reconstruction methods learn priors over object categories on the training set, and as a result struggle to achieve reasonable generalization to object categories unseen during training. In this…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

Monocular 3D foundation models offer an extensible solution for perception tasks, making them attractive for broader 3D vision applications. In this paper, we propose MoRe, a training-free Monocular Geometry Refinement method designed to…

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…

Monocular 3D object detection aims to extract the 3D position and properties of objects from a 2D input image. This is an ill-posed problem with a major difficulty lying in the information loss by depth-agnostic cameras. Conventional…

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…

Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…

We present Mono-STAR, the first real-time 3D reconstruction system that simultaneously supports semantic fusion, fast motion tracking, non-rigid object deformation, and topological change under a unified framework. The proposed system…

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

We present MOSAIC-GS, a novel, fully explicit, and computationally efficient approach for high-fidelity dynamic scene reconstruction from monocular videos using Gaussian Splatting. Monocular reconstruction is inherently ill-posed due to the…

Vision-Language Models (VLMs) have achieved strong performance on implicit and explicit visual grounding and related tasks. However, such abilities are generally tested on simple, single-object phrases. We find that grounding performance…

The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to…

Recovering a textured 3D mesh from a monocular image is highly challenging, particularly for in-the-wild objects that lack 3D ground truths. In this work, we present MeshInversion, a novel framework to improve the reconstruction by…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…

Reconstructing people, objects, and their interactions in 3D is a long-standing goal for intelligent systems. Often the input is RGB video from a moving camera, making the task ill-posed; depth is ambiguous, humans and objects occlude each…