5 papers
MetricTrail: Revisiting the Power of Metric Depth and Local Optimization for Long-Sequence Streaming 3D Reconstruction
Jingnan Gao, Jiahui Huang, Sven Elflein +8
We present MetricTrail, a streaming system for accurate camera motion estimation and dense reconstruction from long monocular videos. To keep inference efficient over long sequence…
WildPose: A Unified Framework for Robust Pose Estimation in the Wild
Jianhao Zheng, Liyuan Zhu, Zihan Zhu +1
Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are…
ReScene4D: Temporally Consistent Semantic Instance Segmentation of Evolving Indoor 3D Scenes
Emily Steiner, Jianhao Zheng, Henry Howard-Jenkins +2
Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittentl…
WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments
Jianhao Zheng, Zihan Zhu, Valentin Bieri +3
We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike tradition…
MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps
Jianhao Zheng, Daniel Barath, Marc Pollefeys +1
Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or o…