6 papers
A scalar per patch from pre-trained ViTs enables fast moving navigation in the real world
Steeven Janny, Leonid Antsfeld, Christian Wolf
Trained policies for real-world robotics rely on computer vision components, typically in the form of pre-trained visual encoders. These encoders are an essential component and it…
S-MUSt3R: Sliding Multi-view 3D Reconstruction
Leonid Antsfeld, Boris Chidlovskii, Yohann Cabon +2
The recent paradigm shift in 3D vision led to the rise of foundation models with remarkable capabilities in 3D perception from uncalibrated images. However, extending these models…
PanSt3R: Multi-view Consistent Panoptic Segmentation
Lojze Zust, Yohann Cabon, Juliette Marrie +4
Panoptic segmentation of 3D scenes, involving the segmentation and classification of object instances in a dense 3D reconstruction of a scene, is a challenging problem, especially…
Reasoning in visual navigation of end-to-end trained agents: a dynamical systems approach
Steeven Janny, Hervé Poirier, Leonid Antsfeld +6
Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-condition…
MUSt3R: Multi-view Network for Stereo 3D Reconstruction
Yohann Cabon, Lucas Stoffl, Leonid Antsfeld +4
DUSt3R introduced a novel paradigm in geometric computer vision by proposing a model that can provide dense and unconstrained Stereo 3D Reconstruction of arbitrary image collection…
3D-Consistent Image Inpainting with Diffusion Models
Leonid Antsfeld, Boris Chidlovskii
We address the problem of 3D inconsistency of image inpainting based on diffusion models. We propose a generative model using image pairs that belong to the same scene. To achieve…