相关论文: OCH3R: Object-Centric Holistic 3D Reconstruction

We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Estimating agent pose and 3D scene structure from multi-camera rigs is a central task in embodied AI applications such as autonomous driving. Recent learned approaches such as DUSt3R have shown impressive performance in multiview settings.…

Robust 3D geometry estimation from videos is critical for applications such as autonomous navigation, SLAM, and 3D scene reconstruction. Recent methods like DUSt3R demonstrate that regressing dense pointmaps from image pairs enables…

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…

Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…

We propose a novel framework for comprehensive indoor 3D reconstruction using Gaussian representations, called OmniIndoor3D. This framework enables accurate appearance, geometry, and panoptic reconstruction of diverse indoor scenes captured…

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

Video stabilization aims to mitigate camera shake but faces a fundamental trade-off between geometric robustness and full-frame consistency. While 2D methods suffer from aggressive cropping, 3D techniques are often undermined by fragile…

3D Panoptic Occupancy Prediction aims to reconstruct a dense volumetric scene map by predicting the semantic class and instance identity of every occupied region in 3D space. Achieving such fine-grained 3D understanding requires precise…

We present Edit3r, a feed-forward framework that reconstructs and edits 3D scenes in a single pass from unposed, view-inconsistent, instruction-edited images. Unlike prior methods requiring per-scene optimization, Edit3r directly predicts…

Generating a coherent 3D scene representation from multi-view images is a fundamental yet challenging task. Existing methods often struggle with multi-view fusion, leading to fragmented 3D representations and sub-optimal performance. To…

Creating a photorealistic scene and human reconstruction from a single monocular in-the-wild video figures prominently in the perception of a human-centric 3D world. Recent neural rendering advances have enabled holistic human-scene…

Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…