10 papers
EPS3D: End-to-End Feed-Forward 3D Panoptic Segmentation
Runsong Zhu, Jiaxin Guo, Xiaoyang Guo +9
This paper introduces EPS3D, a new end-to-end feed-forward framework for open-vocabulary 3D panoptic segmentation. Unlike existing methods relying on additional preprocessing, we d…
Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping
Peilin Tao, Chong Cheng, Yuansen Du +8
Long-horizon online visual mapping requires continuous camera-motion and scene-geometry estimation under bounded computation. Recent feed-forward 3D reconstruction models provide s…
HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction
Chong Cheng, Peilin Tao, Nanjie Yao +9
Online 3D reconstruction requires estimating camera pose and scene geometry under strict causal and bounded-memory constraints. Existing methods often suffer from drift, jitter, or…
HorizonDrive: Self-Corrective Autoregressive World Model for Long-horizon Driving Simulation
Conglang Zhang, Yifan Zhan, Qingjie Wang +10
Closed-loop driving simulation requires real-time interaction beyond short offline clips, pushing current driving world models toward autoregressive (AR) rollout. Existing AR disti…
Scal3R: Scalable Test-Time Training for Large-Scale 3D Reconstruction
Tao Xie, Peishan Yang, Yudong Jin +8
This paper addresses the task of large-scale 3D scene reconstruction from long video sequences. Recent feed-forward reconstruction models have shown promising results by directly r…
Composing Driving Worlds through Disentangled Control for Adversarial Scenario Generation
Yifan Zhan, Zhengqing Chen, Qingjie Wang +7
A major challenge in autonomous driving is the "long tail" of safety-critical edge cases, which often emerge from unusual combinations of common traffic elements. Synthesizing thes…
LongStream: Long-Sequence Streaming Autoregressive Visual Geometry
Chong Cheng, Xianda Chen, Tao Xie +5
Long-sequence streaming 3D reconstruction remains a significant open challenge. Existing autoregressive models often fail when processing long sequences because they anchor poses t…
SynthDrive: Scalable Real2Sim2Real Sensor Simulation Pipeline for High-Fidelity Asset Generation and Driving Data Synthesis
Zhengqing Chen, Ruohong Mei, Xiaoyang Guo +5
In the field of autonomous driving, sensor simulation is essential for generating rare and diverse scenarios that are difficult to capture in real-world environments. Current solut…
SAIL-Recon: Large SfM by Augmenting Scene Regression with Localization
Junyuan Deng, Heng Li, Tao Xie +4
Scene regression methods, such as VGGT, solve the Structure-from-Motion (SfM) problem by directly regressing camera poses and 3D scene structures from input images. They demonstrat…
Boost 3D Reconstruction using Diffusion-based Monocular Camera Calibration
Junyuan Deng, Wei Yin, Xiaoyang Guo +5
In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essenti…