3 citations · 29 across the 66 of their papers we have counts for
32 papers · 1 filter
LeAD-M3D: Leveraging Asymmetric Distillation for Real-Time Monocular 3D Detection
Johannes Meier, Jonathan Michel, Oussema Dhaouadi +7
Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches ei…
SpaceControl: Introducing Test-Time Spatial Control to 3D Generative Modeling
Elisabetta Fedele, Francis Engelmann, Ian Huang +3
Generative methods for 3D assets have recently achieved remarkable progress, yet providing intuitive and precise control over the object geometry remains a key challenge. Existing…
Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
Tim Engelbracht, René Zurbrügg, Matteo Wohlrapp +5
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset…
VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM
Zihan Zhu, Wei Zhang, Moyang Li +3
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM…
SegSplat: Feed-forward Gaussian Splatting and Open-Set Semantic Segmentation
Peter Siegel, Federico Tombari, Marc Pollefeys +1
We have introduced SegSplat, a novel framework designed to bridge the gap between rapid, feed-forward 3D reconstruction and rich, open-vocabulary semantic understanding. By constru…
YoNoSplat: You Only Need One Model for Feedforward 3D Gaussian Splatting
Botao Ye, Boqi Chen, Haofei Xu +2
Fast and flexible 3D scene reconstruction from unstructured image collections remains a significant challenge. We present YoNoSplat, a feedforward model that reconstructs high-qual…
HouseTour: A Virtual Real Estate A(I)gent
Ata Çelen, Marc Pollefeys, Daniel Barath +1
We introduce HouseTour, a method for spatially-aware 3D camera trajectory and natural language summary generation from a collection of images depicting an existing 3D space. Unlike…
REACT3D: Recovering Articulations for Interactive Physical 3D Scenes
Zhao Huang, Boyang Sun, Alexandros Delitzas +2
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kin…
What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework
Hongze Wang, Boyang Sun, Jiaxu Xing +5
Object-Goal Navigation (ObjectNav) is a key capability for deploying mobile robots in everyday environments such as homes, schools, and workplaces. In this task, an agent must loca…
Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection
Richard Kuhlmann, Jakob Wolfram, Boyang Sun +4
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced…
UnLoc: Leveraging Depth Uncertainties for Floorplan Localization
Matthias Wüest, Francis Engelmann, Ondrej Miksik +2
We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to c…
Multi-View 3D Point Tracking
Frano Rajič, Haofei Xu, Marko Mihajlovic +7
We introduce the first data-driven multi-view 3D point tracker, designed to track arbitrary points in dynamic scenes using multiple camera views. Unlike existing monocular trackers…
ActLoc: Learning to Localize on the Move via Active Viewpoint Selection
Jiajie Li, Boyang Sun, Luca Di Giammarino +2
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice,…
Minimal Solvers for Full DoF Motion Estimation from Asynchronous Tracks
Petr Hruby, Marc Pollefeys
We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras…
3D-MOOD: Lifting 2D to 3D for Monocular Open-Set Object Detection
Yung-Hsu Yang, Luigi Piccinelli, Mattia Segu +6
Monocular 3D object detection is valuable for various applications such as robotics and AR/VR. Existing methods are confined to closed-set settings, where the training and testing…
Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras
Petr Hruby, Marc Pollefeys
We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allo…
Video Perception Models for 3D Scene Synthesis
Rui Huang, Guangyao Zhai, Zuria Bauer +5
Traditionally, 3D scene synthesis requires expert knowledge and significant manual effort. Automating this process could greatly benefit fields such as architectural design, roboti…
CL-Splats: Continual Learning of Gaussian Splatting with Local Optimization
Jan Ackermann, Jonas Kulhanek, Shengqu Cai +5
In dynamic 3D environments, accurately updating scene representations over time is crucial for applications in robotics, mixed reality, and embodied AI. As scenes evolve, efficient…
Object-X: Learning to Reconstruct Multi-Modal 3D Object Representations
Gaia Di Lorenzo, Federico Tombari, Marc Pollefeys +1
Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-spe…
MR.NAVI: Mixed-Reality Navigation Assistant for the Visually Impaired
Nicolas Pfitzer, Yifan Zhou, Marco Poggensee +5
Over 43 million people worldwide live with severe visual impairment, facing significant challenges in navigating unfamiliar environments. We present MR.NAVI, a mixed reality system…
Spot-On: A Mixed Reality Interface for Multi-Robot Cooperation
Tim Engelbracht, Petar Lukovic, Tjark Behrens +5
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel M…
Compile Scene Graphs with Reinforcement Learning
Zuyao Chen, Jinlin Wu, Zhen Lei +2
Next-token prediction is the fundamental principle for training large language models (LLMs), and reinforcement learning (RL) further enhances their reasoning performance. As an ef…
ForesightNav: Learning Scene Imagination for Efficient Exploration
Hardik Shah, Jiaxu Xing, Nico Messikommer +3
Understanding how humans leverage prior knowledge to navigate unseen environments while making exploratory decisions is essential for developing autonomous robots with similar abil…
Robust Human Registration with Body Part Segmentation on Noisy Point Clouds
Kai Lascheit, Daniel Barath, Marc Pollefeys +2
Registering human meshes to 3D point clouds is essential for applications such as augmented reality and human-robot interaction but often yields imprecise results due to noise and…