相关论文: Mem3R: Streaming 3D Reconstruction with Hybrid Mem…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Convolutional Neural Networks (CNN) have been regarded as a powerful class of models for image recognition problems. Nevertheless, it is not trivial when utilizing a CNN for learning spatio-temporal video representation. A few studies have…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Continual learning enables models to acquire new knowledge over time while retaining previously learned capabilities. However, its application to text-to-3D generation remains unexplored. We present ReConText3D, the first framework for…

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…

For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D…

Recent feed-forward reconstruction models like VGGT and $\pi^3$ achieve impressive reconstruction quality but cannot process streaming videos due to quadratic memory complexity, limiting their practical deployment. While existing streaming…

3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…

Robust object tracking requires knowledge and understanding of the object being tracked: its appearance, its motion, and how it changes over time. A tracker must be able to modify its underlying model and adapt to new observations. We…

Current multi-view 3D reconstruction methods rely on accurate camera calibration and pose estimation, requiring complex and time-intensive pre-processing that hinders their practical deployment. To address this challenge, we introduce…

We present a novel method to learn temporally consistent 3D reconstruction of clothed people from a monocular video. Recent methods for 3D human reconstruction from monocular video using volumetric, implicit or parametric human shape…

Recovering the 3D geometry of a scene from a sparse set of uncalibrated images is a long-standing problem in computer vision. While recent learning-based approaches such as DUSt3R and MASt3R have demonstrated impressive results by directly…

Video captioning which automatically translates video clips into natural language sentences is a very important task in computer vision. By virtue of recent deep learning technologies, e.g., convolutional neural networks (CNNs) and…

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…

Long-term temporal fusion is a crucial but often overlooked technique in camera-based Bird's-Eye-View (BEV) 3D perception. Existing methods are mostly in a parallel manner. While parallel fusion can benefit from long-term information, it…

Online 3D reconstruction from streaming inputs requires both long-term temporal consistency and efficient memory usage. Although causal variants of VGGT address this challenge through a key-value (KV) cache mechanism, the cache grows…

Accurate and computationally efficient 3D medical image segmentation remains a critical challenge in clinical workflows. Transformer-based architectures often demonstrate superior global contextual modeling but at the expense of excessive…

We propose a transformer-based neural network architecture for multi-object 3D reconstruction from RGB videos. It relies on two alternative ways to represent its knowledge: as a global 3D grid of features and an array of view-specific 2D…

In recent years, 3D visual foundation models pioneered by pointmap-based approaches such as DUSt3R have attracted a lot of interest, achieving impressive accuracy and strong generalization across diverse scenes. However, these methods are…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…