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MORE: Learning Motion-Oriented Registers for Driving World Models and Planning
Yingdong Gu, Haoyu Wang, Shaocheng Yan +9
By predicting future states, latent world models provide rich self-supervision for end-to-end driving, but often inherit dense features from pretrained visual encoders as their wor…
F SLAM: Turning Feed-Forward Geometry into Persistent Factors for SLAM
Zhisong Xu, Fan Zhu, Jiawei Qian +3
Feed-forward 3D models provide strong multi-view geometric priors, while on- line simultaneous localization and mapping (SLAM) relies mainly on local mea- surements and can accumul…
SSMB: Self-Supervised Local Feature Detection under Motion Blur
Zhenjun Zhao, Fabio Bellavia, Wenting Wang +6
Keypoint detection under motion blur remains a significant challenge, as blur distorts local image structure and degrades the repeatability of feature localization. Existing approa…
MyGO-Splat: Multi-Objective Closed-Loop Geometric Feedback for RGB-Only Gaussian SLAM
Fan Zhu, Ziyu Chen, Zhenjun Zhao +5
Real-time monocular Simultaneous Localization and Mapping (SLAM) fundamentally suffers from scale ambiguity and a lack of geometric self-correction. While 3D Gaussian Splatting (3D…
ULF-Loc: Unbiased Landmark Feature for Robust Visual Localization with 3D Gaussian Splatting
Yingdong Gu, Shaocheng Yan, Zhenjun Zhao +4
Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with featur…
Advances in Global Solvers for 3D Vision
Zhenjun Zhao, Heng Yang, Bangyan Liao +7
Global solvers have emerged as a powerful paradigm for 3D vision, offering certifiable solutions to nonconvex geometric optimization problems traditionally addressed by local or he…
Neural Predictor-Corrector: Solving Homotopy Problems with Reinforcement Learning
Jiayao Mai, Bangyan Liao, Zhenjun Zhao +6
The Homotopy paradigm, a general principle for solving challenging problems, appears across diverse domains such as robust optimization, global optimization, polynomial root-findin…
AdaGaR: Adaptive Gabor Representation for Dynamic Scene Reconstruction
Jiewen Chan, Zhenjun Zhao, Yu-Lun Liu
Reconstructing dynamic 3D scenes from monocular videos requires simultaneously capturing high-frequency appearance details and temporally continuous motion. Existing methods using…