4 papers
UniCorrn: Unified Correspondence Transformer Across 2D and 3D
Prajnan Goswami, Tianye Ding, Feng Liu +1
Visual correspondence across image-to-image (2D-2D), image-to-point cloud (2D-3D), and point cloud-to-point cloud (3D-3D) geometric matching forms the foundation for numerous 3D vi…
LASER: Layer-wise Scale Alignment for Training-Free Streaming 4D Reconstruction
Tianye Ding, Yiming Xie, Yiqing Liang +3
Recent feed-forward reconstruction models like VGGT and achieve impressive reconstruction quality but cannot process streaming videos due to quadratic memory complexity, lim…
Struct2D: A Perception-Guided Framework for Spatial Reasoning in MLLMs
Fangrui Zhu, Hanhui Wang, Yiming Xie +4
Unlocking spatial reasoning in Multimodal Large Language Models (MLLMs) is crucial for enabling intelligent interaction with 3D environments. While prior efforts often rely on expl…
ODTFormer: Efficient Obstacle Detection and Tracking with Stereo Cameras Based on Transformer
Tianye Ding, Hongyu Li, Huaizu Jiang
Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstac…