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cs.CV2026
Vernata: Self-Supervised Learning of LiDAR Point Representations
Oliver Lemke, Alexander Liniger, Abel Gawel +1
LiDAR serves as a primary sensing modality for robots operating in outdoor environments. However, the performance of deep learning models in this domain is severely limited by the…
cs.CV2026
FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning
Zhengyu Fu, René Zurbrügg, Kaixian Qu +4
Recent work in 3D scene understanding is moving beyond purely spatial analysis toward functional scene understanding. However, existing methods often consider functional relationsh…
cs.CV2026
MOSAIC-GS: Monocular Scene Reconstruction via Advanced Initialization for Complex Dynamic Environments
Svitlana Morkva, Maximum Wilder-Smith, Michael Oechsle +3
We present MOSAIC-GS, a novel, fully explicit, and computationally efficient approach for high-fidelity dynamic scene reconstruction from monocular videos using Gaussian Splatting.…