相关论文: Geometric Context Transformer for Streaming 3D Rec…

Point cloud is a promising 3D representation for volumetric streaming in emerging AR/VR applications. Despite recent advances in point cloud compression, decoding and rendering high-quality images from lossy compressed point clouds is still…

Reconstructing scenes and tracking motion are two sides of the same coin. Tracking points allow for geometric reconstruction [14], while geometric reconstruction of (dynamic) scenes allows for 3D tracking of points over time [24, 39]. The…

Recent advances in Large Language Models (LLMs) have enabled the development of Video-LLMs, advancing multimodal learning by bridging video data with language tasks. However, current video understanding models struggle with processing long…

We propose global context vision transformer (GC ViT), a novel architecture that enhances parameter and compute utilization for computer vision. Our method leverages global context self-attention modules, joint with standard local…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Building on the advances of language models, Large Multimodal Models (LMMs) have contributed significant improvements in video understanding. While the current video LMMs utilize advanced Large Language Models (LLMs), they rely on either…

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…

To obtain high-quality Positron emission tomography (PET) images while minimizing radiation exposure, numerous methods have been proposed to reconstruct standard-dose PET (SPET) images from the corresponding low-dose PET (LPET) images.…

We present LingBot-World, an open-sourced world simulator stemming from video generation. Positioned as a top-tier world model, LingBot-World offers the following features. (1) It maintains high fidelity and robust dynamics in a broad…

Recently, the 3D Gaussian splatting (3DGS) technique for real-time radiance field rendering has revolutionized the field of volumetric scene representation, providing users with an immersive experience. But in return, it also poses a large…

We propose a novel online, point-based 3D reconstruction method from posed monocular RGB videos. Our model maintains a global point cloud representation of the scene, continuously updating the features and 3D locations of points as new…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometry as input, which is not applicable in robotic applications…

Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

Applying Gaussian Splatting to perception tasks for 3D scene understanding is becoming increasingly popular. Most existing works primarily focus on rendering 2D feature maps from novel viewpoints, which leads to an imprecise 3D language…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…