相关论文: 3D-IDE: 3D Implicit Depth Emergent

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Implicit neural representations have emerged as a powerful tool in learning 3D geometry, offering unparalleled advantages over conventional representations like mesh-based methods. A common type of INR implicitly encodes a shape's boundary…

Geometric Deep Learning has recently made striking progress with the advent of continuous deep implicit fields. They allow for detailed modeling of watertight surfaces of arbitrary topology while not relying on a 3D Euclidean grid,…

Recent advances in 3D deep learning have shown that it is possible to train highly effective deep models for 3D shape generation, directly from 2D images. This is particularly interesting since the availability of 3D models is still limited…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Despite remarkable progress in video generation, maintaining long-term scene consistency upon revisiting previously explored areas remains challenging. Existing solutions rely either on explicitly constructing 3D geometry, which suffers…

The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…

Conventional 3D object detection approaches concentrate on bounding boxes representation learning with several parameters, i.e., localization, dimension, and orientation. Despite its popularity and universality, such a straightforward…

Learning-based 3D reconstruction methods have shown impressive results. However, most methods require 3D supervision which is often hard to obtain for real-world datasets. Recently, several works have proposed differentiable rendering…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

The goal of this paper is to learn dense 3D shape correspondence for topology-varying objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead, our novel…

Spatial reasoning, the ability to understand and interpret the 3D structure of the world, is a critical yet underdeveloped capability in Multimodal Large Language Models (MLLMs). Current methods predominantly rely on verbal descriptive…

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in 2D visual tasks but still exhibit limited physical spatial awareness when processing real-world visual streams. Recently, feed-forward geometric foundation…

Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…

Advancing towards artificial superintelligence requires rich and intelligent perceptual capabilities. A critical frontier in this pursuit is overcoming the limited spatial understanding of Multimodal Large Language Models (MLLMs), where…

Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…

Depth ambiguity is a fundamental challenge in spatial scene understanding, especially in transparent scenes where single-depth estimates fail to capture full 3D structure. Existing models, limited to deterministic predictions, overlook…

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on…