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refactor: reorganize research/ into topic subfolders (world-models, spatial-memory, crowdroom, plans)

2026-05-21 03:05:45 +08:00

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ZED 2i 数据 Pipeline 实时 arXiv 综述（自动生成）

数据来源：research/search_results.json 由 research/search_info.py 通过 HTTP 代理 127.0.0.1:6984 拉取自 arxiv.org / api.github.com。 生成时间：2026-05-16T16:44:34+0800 (merged) 检索代理：http://127.0.0.1:6984 每主题最多：10 篇

0. 数据概览

arXiv 论文总数：100
arXiv 主题数：10
疑似国产团队论文：1（占比 1%；🇨🇳 标记，启发式判断）
GitHub 仓库总数：50
GitHub 主题数：5

0.1 主类目分布（arXiv primary_category）

cs.CV: 59
cs.RO: 31
eess.SY: 2
cs.AI: 2
quant-ph: 1
cs.LG: 1
cs.MA: 1
eess.SP: 1
cs.HC: 1
cs.SD: 1

0.2 与本项目框架的映射

项目阶段	主线主题	论文数
M2-3 / M3-4	A. 双目立体匹配（被动深度）	10
M2-1 / M3-3	B. 视觉惯性 SLAM / VIO	10
M3-5 / M4	C. 3D Gaussian Splatting SLAM（融合建图）	10
M3-4	D. 单目深度基础模型	10
M4-1 / M4-2	E. 室内 RGB-D 数据集与重建	10
M4-4	F. 视频世界模型（下游应用）	10
全周期	G. ZED 相机相关应用工作	10
国产化 / 替代硬件	H. Orbbec / Femto / Azure Kinect 相关工作	10
M2-2 / M3-5	I. RGB-D 室内重建	10
M3-4	J. 神经立体深度（指定 RAFT/IGEV/Foundation 家族）	10

第一部分 · arXiv 论文（按主题分组，时间新→旧）

A. 双目立体匹配（被动深度）

项目阶段: M2-3 / M3-4 | 论文数: 10

对应 ZED 双目深度算法的替换/超越路线。关注零样本泛化、Transformer 架构、神经几何编码。

1. 2605.14963 — H-OmniStereo: Zero-Shot Omnidirectional Stereo Matching with Heading-Aligned Normal Priors

发表: 2026-05-14 | 分类: cs.CV
作者: Chenxing Jiang, Zhe Tong, Pusen Gao, Peize Liu 等 (8 人)
摘要: Stereo matching on top-bottom equirectangular images provides an effective framework for full-surround perception, as vertically aligned epipolar lines enable the use of advanced perspective stereo architectures that are largely driven by large-scale datasets and monocular priors. However, the performance of such adaptations is severely limited by the scarcity of omnidirectional stereo datasets an...

发表: 2026-05-09 | 分类: cs.CV
作者: Yongliang Zhen, Bo LÜ, Hang Yang, Xiaotian WU
摘要: On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocular methods have seen widespread adoption in spacecraft pose estimation, yet they suffer from an intrinsic depth ambiguity problem and tend to fail under the harsh illumination cond...

3. 2604.20393 — MLG-Stereo: ViT Based Stereo Matching with Multi-Stage Local-Global Enhancement

发表: 2026-04-22 | 分类: cs.CV
作者: Haoyu Zhang, Jingyi Zhou, Peng Ye, Jiakang Yuan 等 (7 人)
摘要: With the development of deep learning, ViT-based stereo matching methods have made significant progress due to their remarkable robustness and zero-shot ability. However, due to the limitations of ViTs in handling resolution sensitivity and their relative neglect of local information, the ability of ViT-based methods to predict details and handle arbitrary-resolution images is still weaker than th...

4. 2604.10218 — SMFormer: Empowering Self-supervised Stereo Matching via Foundation Models and Data Augmentation

发表: 2026-04-11 | 分类: cs.CV
作者: Yun Wang, Zhengjie Yang, Jiahao Zheng, Zhanjie Zhang 等 (6 人)
摘要: Recent self-supervised stereo matching methods have made significant progress. They typically rely on the photometric consistency assumption, which presumes corresponding points across views share the same appearance. However, this assumption could be compromised by real-world disturbances, resulting in invalid supervisory signals and a significant accuracy gap compared to supervised methods. To a...

5. 2604.09142 — Geometry Reinforced Efficient Attention Tuning Equipped with Normals for Robust Stereo Matching

发表: 2026-04-10 | 分类: cs.CV
作者: Jiahao Li, Xinhong Chen, Zhengmin Jiang, Cheng Huang 等 (6 人)
摘要: Despite remarkable advances in image-driven stereo matching over the past decade, Synthetic-to-Realistic Zero-Shot (Syn-to-Real) generalization remains an open challenge. This suboptimal generalization performance mainly stems from cross-domain shifts and ill-posed ambiguities inherent in image textures, particularly in occluded, textureless, repetitive, and non-Lambertian (specular/transparent) r...

6. 2603.29368 — StereoVGGT: A Training-Free Visual Geometry Transformer for Stereo Vision

发表: 2026-03-31 | 分类: cs.CV
作者: Ziyang Chen, Yansong Qu, You Shen, Xuan Cheng 等 (5 人)
摘要: Driven by the advancement of 3D devices, stereo vision tasks including stereo matching and stereo conversion have emerged as a critical research frontier. Contemporary stereo vision backbones typically rely on either monocular depth estimation (MDE) models or visual foundation models (VFMs). Crucially, these models are predominantly pretrained without explicit supervision of camera poses. Given th...

7. 2603.24836 — WAFT-Stereo: Warping-Alone Field Transforms for Stereo Matching

发表: 2026-03-25 | 分类: cs.CV
作者: Yihan Wang, Jia Deng
摘要: We introduce WAFT-Stereo, a simple and effective warping-based method for stereo matching. WAFT-Stereo demonstrates that cost volumes, a common design used in many leading methods, are not necessary for strong performance and can be replaced by warping with improved efficiency. WAFT-Stereo ranks first on ETH3D (BP-0.5), Middlebury (RMSE), and KITTI (all metrics), reducing the zero-shot error by 81...

8. 2603.21882 — Deep S2P: Integrating Learning Based Stereo Matching Into the Satellite Stereo Pipeline

发表: 2026-03-23 | 分类: cs.CV
作者: Elías Masquil, Thibaud Ehret, Pablo Musé, Gabriele Facciolo
摘要: Digital Surface Model generation from satellite imagery is a core task in Earth observation and is commonly addressed using classical stereoscopic matching algorithms in satellite pipelines as in the Satellite Stereo Pipeline (S2P). While recent learning-based stereo matchers achieve state-of-the-art performance on standard benchmarks, their integration into operational satellite pipelines remains...

9. 2603.15019 — Reference-Free Omnidirectional Stereo Matching via Multi-View Consistency Maximization

发表: 2026-03-16 | 分类: cs.CV
作者: Lehuai Xu, Weiming Zhang, Yang Li, Sidan Du 等 (5 人)
摘要: Reliable omnidirectional depth estimation from multi-fisheye stereo matching is pivotal to many applications, such as embodied robotics. Existing approaches either rely on spherical sweeping with heuristic fusion strategies to build the cost columns or perform reference-centric stereo matching based on rectified views. However, these methods fail to explicitly exploit geometric relationships betwe...

10. 2603.01650 — PromptStereo: Zero-Shot Stereo Matching via Structure and Motion Prompts

发表: 2026-03-02 | 分类: cs.CV
作者: Xianqi Wang, Hao Yang, Hangtian Wang, Junda Cheng 等 (7 人)
摘要: Modern stereo matching methods have leveraged monocular depth foundation models to achieve superior zero-shot generalization performance. However, most existing methods primarily focus on extracting robust features for cost volume construction or disparity initialization. At the same time, the iterative refinement stage, which is also crucial for zero-shot generalization, remains underexplored. So...

B. 视觉惯性 SLAM / VIO

项目阶段: M2-1 / M3-3 | 论文数: 10

对标 ZED 内建 VIO 的替代方案。关注 IMU 融合、长时鲁棒、动态环境。

1. 2605.07552 — VIMCAN: Visual-Inertial 3D Human Pose Estimation with Hybrid Mamba-Cross-Attention Network

发表: 2026-05-08 | 分类: cs.CV
作者: Zepeng Yang, Junxuan Bai, Hao Li, Ju Dai 等 (7 人)
摘要: The rapid advances in deep learning have significantly enhanced the accuracy of multimodal 3D human pose estimation (HPE). However, the state-of-the-art (SOTA) HPE pipelines still rely on Transformers, whose quadratic complexity makes real-time processing for long sequences impractical. Mamba addresses this issue through selective state-space modeling, enabling efficient sequence processing withou...

2. 2605.02054 — Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions

发表: 2026-05-03 | 分类: eess.SY, cs.CV, cs.RO
作者: Nicholas B. Andrews, Kristi A. Morgansen
摘要: This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (P$n$P) solvers: sensitivity to noise and outliers, and inability to propagate estimates through measurement dropouts. A nonlinear observability analysis is performed using a Lie algebraic approach, deriving sufficient conditions for local observability under two s...

3. 2604.07151 — An RTK-SLAM Dataset for Absolute Accuracy Evaluation in GNSS-Degraded Environments

发表: 2026-04-08 | 分类: cs.RO, cs.CV
作者: Wei Zhang, Vincent Ress, David Skuddis, Uwe Soergel 等 (5 人)
摘要: RTK-SLAM systems integrate simultaneous localization and mapping (SLAM) with real-time kinematic (RTK) GNSS positioning, promising both relative consistency and globally referenced coordinates for efficient georeferenced surveying. A critical and underappreciated issue is that the standard evaluation metric, Absolute Trajectory Error (ATE), first fits an optimal rigid-body transformation between t...

4. 2603.21785 — Image-Conditioned Adaptive Parameter Tuning for Visual Odometry Frontends

发表: 2026-03-23 | 分类: cs.CV
作者: Simone Nascivera, Leonard Bauersfeld, Jeff Delaune, Davide Scaramuzza
摘要: Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of most systems depends critically on hand-tuned hyperparameters governing feature detection, tracking, and outlier rejection. These parameters are typically fixed ...

5. 2603.20778 — PiLoT: Neural Pixel-to-3D Registration for UAV-based Ego and Target Geo-localization

发表: 2026-03-21 | 分类: cs.CV
作者: Xiaoya Cheng, Long Wang, Yan Liu, Xinyi Liu 等 (8 人)
摘要: We present PiLoT, a unified framework that tackles UAV-based ego and target geo-localization. Conventional approaches rely on decoupled pipelines that fuse GNSS and Visual-Inertial Odometry (VIO) for ego-pose estimation, and active sensors like laser rangefinders for target localization. However, these methods are susceptible to failure in GNSS-denied environments and incur substantial hardware co...

6. 2603.19654 — GravCal: Single-Image Calibration of IMU Gravity Priors with Per-Sample Confidence

发表: 2026-03-20 | 分类: cs.CV
作者: Haichao Zhu, Qian Zhang
摘要: Gravity estimation is fundamental to visual-inertial perception, augmented reality, and robotics, yet gravity priors from IMUs are often unreliable under linear acceleration, vibration, and transient motion. Existing methods often estimate gravity directly from images or assume reasonably accurate inertial input, leaving the practical problem of correcting a noisy gravity prior from a single image...

发表: 2026-03-18 | 分类: cs.RO, cs.CV
作者: Adam Dai, Guillem Casadesus Vila, Grace Gao
摘要: Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global positioning systems, extreme illumination, and low-texture regolith make long-range navigation on the Moon particularly difficult, as visual-inertial odometry pipelines...

8. 2603.26685 — Contextual Graph Representations for Task-Driven 3D Perception and Planning

发表: 2026-03-12 | 分类: cs.RO, cs.AI, cs.CV
作者: Christopher Agia
摘要: Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of real-world scenes with a dense multiplex graph structure. While 3D scene graphs claim to promote efficient task planning for robot systems, they contain numerous obje...

9. 2603.11085 — Edge-Assisted Multi-Robot Visual-Inertial SLAM with Efficient Communication

发表: 2026-03-11 | 分类: cs.RO, cs.CV, cs.MA
作者: Xin Liu, Shuhuan Wen, Jing Zhao, Tony Z. Qiu 等 (5 人)
摘要: The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited computing, communication and storage capacity of terminal equipment. However, limited bandwidth and extremely long communication links between terminal devices and the...

10. 2603.09653 — OTPL-VIO: Robust Visual-Inertial Odometry with Optimal Transport Line Association and Adaptive Uncertainty

发表: 2026-03-10 | 分类: cs.CV, cs.RO
作者: Zikun Chen, Wentao Zhao, Yihe Niu, Tianchen Deng 等 (5 人)
摘要: Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leading to ambiguous association and under-constrained estimation. Line structures offer complementary geometric cues, yet many efficient point-line systems still rely on point-guided line association, which can break down wh...

C. 3D Gaussian Splatting SLAM（融合建图）

项目阶段: M3-5 / M4 | 论文数: 10

把 3DGS 作为 SLAM 后端，实现实时定位+建图+渲染一体化。world model 训练的核心视觉表征。

1. 2605.10760 — MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction

发表: 2026-05-11 | 分类: cs.RO
作者: Zhihao Cao, Qi Shao, Shuhao Zhai, Jing Zhang 等 (6 人)
摘要: Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can generate high-fidelity real-time mapping, most of the existing multi-agent Gaussian SLAM methods still rely on RGB-D sensors to obtain metric depth and simplify cross...

2. 2604.22339 — Flow4DGS-SLAM: Optical Flow-Guided 4D Gaussian Splatting SLAM

发表: 2026-04-24 | 分类: cs.CV
作者: Yunsong Wang, Gim Hee Lee
摘要: Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and photorealistic renderings. However, using SLAM to efficiently reconstruct both static and dynamic regions remains challenging. In this work, we propose an effic...

3. 2604.15612 — GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow

发表: 2026-04-17 | 分类: cs.RO, cs.CV
作者: Dong-Uk Seo, Jinwoo Jeon, Eungchang Mason Lee, Hyun Myung
摘要: Gaussian splatting has recently gained traction as a compelling map representation for SLAM systems, enabling dense and photo-realistic scene modeling. However, its application to monocular SLAM remains challenging due to the lack of reliable geometric cues from monocular input. Without geometric supervision, mapping or tracking could fall in local-minima, resulting in structural degeneracies and ...

4. 2604.13492 — RadarSplat-RIO: Indoor Radar-Inertial Odometry with Gaussian Splatting-Based Radar Bundle Adjustment

发表: 2026-04-15 | 分类: cs.RO, cs.CV
作者: Pou-Chun Kung, Yuan Tian, Zhengqin Li, Yue Liu 等 (7 人)
摘要: Radar is more resilient to adverse weather and lighting conditions than visual and Lidar simultaneous localization and mapping (SLAM). However, most radar SLAM pipelines still rely heavily on frame-to-frame odometry, which leads to substantial drift. While loop closure can correct long-term errors, it requires revisiting places and relies on robust place recognition. In contrast, visual odometry m...

5. 2604.12942 — RMGS-SLAM: Real-time Multi-sensor Gaussian Splatting SLAM

发表: 2026-04-14 | 分类: cs.RO
作者: Dongen Li, Yi Liu, Junqi Liu, Zewen Sun 等 (11 人)
摘要: Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose estimation, continuous 3D Gaussian reconstruction, and long-term global consistency. In this paper, we present a tightly coupled LiDAR-Inertial-Visual 3DGS-based SLAM...

6. 2604.12837 — GGD-SLAM: Monocular 3DGS SLAM Powered by Generalizable Motion Model for Dynamic Environments

发表: 2026-04-14 | 分类: cs.RO
作者: Yi Liu, Haoxuan Xu, Hongbo Duan, Keyu Fan 等 (8 人)
摘要: Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption and experience significant performance degradation in dynamic environments. This paper presents GGD-SLAM, a framework that employs a generalizable motion model to...

7. 2604.11992 — ReefMapGS: Enabling Large-Scale Underwater Reconstruction by Closing the Loop Between Multimodal SLAM and Gaussian Splatting

发表: 2026-04-13 | 分类: cs.RO, cs.CV
作者: Daniel Yang, Jungseok Hong, John J. Leonard, Yogesh Girdhar
摘要: 3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from computationally intensive processes like structure-from-motion that are unsuitable for field robot applications. However, in these domains, multimodal sensor data from acoustic, inertial, pressure, an...

8. 2604.10593 — MonoEM-GS: Monocular Expectation-Maximization Gaussian Splatting SLAM

发表: 2026-04-12 | 分类: cs.RO
作者: Evgenii Kruzhkov, Sven Behnke
摘要: Feed-forward geometric foundation models can infer dense point clouds and camera motion directly from RGB streams, providing priors for monocular SLAM. However, their predictions are often view-dependent and noisy: geometry can vary across viewpoints and under image transformations, and local metric properties may drift between frames. We present MonoEM-GS, a monocular mapping pipeline that integr...

9. 2604.03092 — Flash-Mono: Feed-Forward Accelerated Gaussian Splatting Monocular SLAM

发表: 2026-04-03 | 分类: cs.RO
作者: Zicheng Zhang, Ke Wu, Xiangting Meng, Keyu Liu 等 (6 人)
摘要: Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming \textit{Train-from-Scratch} optimization and the lack of inter-frame scale consistency from single-frame geometry priors. We contend that a feed-forward paradigm, leveraging multi-frame context to predict Gaussian att...

10. 2604.02696 — VBGS-SLAM: Variational Bayesian Gaussian Splatting Simultaneous Localization and Mapping

发表: 2026-04-03 | 分类: cs.CV, cs.RO
作者: Yuhan Zhu, Yanyu Zhang, Jie Xu, Wei Ren
摘要: 3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization against the splat map, making them sensitive to initialization and susceptible to catastrophic forgetting as map evolves. We propose Variational Bayesian Gaussian ...

D. 单目深度基础模型

项目阶段: M3-4 | 论文数: 10

Depth Anything / Marigold / Metric3D / UniDepth 等通用深度模型，作为双目深度失效的兜底。

1. 2605.11756 — Focusable Monocular Depth Estimation

发表: 2026-05-12 | 分类: cs.CV, cs.AI
作者: Yuxin Du, Tao Lin, Zile Zhong, Runting Li 等 (10 人)
摘要: Monocular depth foundation models generalize well across scenes, yet they are typically optimized with uniform pixel-wise objectives that do not distinguish user-specified or task-relevant target regions from the surrounding context. We therefore introduce Focusable Monocular Depth Estimation (FDE), a region-aware depth estimation task in which, given a specified target region, the model is requir...

2. 2605.07264 — Sat3R: Satellite DSM Reconstruction via RPC-Aware Depth Fine-tuning

发表: 2026-05-08 | 分类: cs.CV
作者: Qiaoyi Yang, Chaoyi Zhou, Xi Liu, Run Wang 等 (12 人)
摘要: Accurate Digital Surface Model (DSM) reconstruction from satellite imagery is critical for applications such as disaster response, urban planning, and large-scale geographic mapping. Existing approaches face a fundamental trade-off: optimization-based methods achieve strong accuracy but require hours of per-scene computation, while generalizable geometry foundation models offer near-instant infere...

3. 2605.06270 — Spark3R: Asymmetric Token Reduction Makes Fast Feed-Forward 3D Reconstruction

发表: 2026-05-07 | 分类: cs.CV
作者: Zecheng Tang, Jiaye Fu, Qiankun Gao, Haijie Li 等 (8 人)
摘要: Feed-forward 3D reconstruction models based on Vision Transformers can directly estimate scene geometry and camera poses from a small set of input images, but scaling them to video inputs with hundreds or thousands of frames remains challenging due to the quadratic cost of global attention layers. Recent token-merging methods accelerate these models by compressing the token sequence within the glo...

4. 2605.04566 — Open-Source Image Editing Models Are Zero-Shot Vision Learners

发表: 2026-05-06 | 分类: cs.CV, cs.CL
作者: Wei Liu, Jiaxin Lin, Rui Chen
摘要: Recent studies have shown that large generative models can solve vision tasks they were not explicitly trained for. However, existing evidence relies on closed-source models~(Veo~3, Nano Banana Pro) or requires task-specific instruction tuning, leaving open whether publicly available image-editing models possess zero-shot vision abilities out of the box. We conduct a systematic evaluation of thr...

5. 2604.26567 — AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision

发表: 2026-04-29 | 分类: cs.CV
作者: Xiaoya Cheng, Rouwan Wu, Xinyi Liu, Zeyu Cui 等 (9 人)
摘要: Despite the rapid progress in data-driven 3D vision, aerial geometric 3D vision remains a formidable challenge due to the severe scarcity of large-scale, high-fidelity training data. Existing benchmarks, predominantly biased toward ground-level or object-centric views, do not account for complex viewpoint transformations and diverse environmental conditions in UAV-based sensing. To bridge this cri...

6. 2604.23432 — Sphere-Depth: A Benchmark for Depth Estimation Methods with Varying Spherical Camera Orientations

发表: 2026-04-25 | 分类: cs.CV, cs.AI
作者: Soulayma Gazzeh, Giuseppe Mazzola, Liliana Lo Presti, Marco La Cascia
摘要: Reliable depth estimation from spherical images is crucial for 360° vision in robotic navigation and immersive scene understanding. However, the onboard spherical camera can experience unintentional pose variations in real-world robotic platforms that, along with the geometric distortions inherent in equirectangular projections, significantly impact the effectiveness of depth estimation. To study ...

7. 2604.20329 — Image Generators are Generalist Vision Learners

发表: 2026-04-22 | 分类: cs.CV, cs.AI
作者: Valentin Gabeur, Shangbang Long, Songyou Peng, Paul Voigtlaender 等 (25 人)
摘要: Recent works show that image and video generators exhibit zero-shot visual understanding behaviors, in a way reminiscent of how LLMs develop emergent capabilities of language understanding and reasoning from generative pretraining. While it has long been conjectured that the ability to create visual content implies an ability to understand it, there has been limited evidence that generative vision...

发表: 2026-04-20 | 分类: cs.RO, cs.CV
作者: Jiamin Zheng, Jingwen Yu, Guangcheng Chen, Hong Zhang
摘要: Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We propose a training-free framework that leverages depth foundation models as a structural prior, employing a robust local RANSAC-based alignment to fuse it with raw s...

9. 2604.17231 — Fringe Projection Based Vision Pipeline for Autonomous Hard Drive Disassembly

发表: 2026-04-19 | 分类: cs.CV, cs.RO
作者: Badrinath Balasubramaniam, Vignesh Suresh, Benjamin Metcalf, Beiwen Li
摘要: Unrecovered e-waste represents a significant economic loss. Hard disk drives (HDDs) comprise a valuable e-waste stream necessitating robotic disassembly. Automating the disassembly of HDDs requires holistic 3D sensing, scene understanding, and fastener localization, however current methods are fragmented, lack robust 3D sensing, and lack fastener localization. We propose an autonomous vision pipel...

10. 2604.14048 — Free Geometry: Refining 3D Reconstruction from Longer Versions of Itself

发表: 2026-04-15 | 分类: cs.CV
作者: Yuhang Dai, Xingyi Yang
摘要: Feed-forward 3D reconstruction models are efficient but rigid: once trained, they perform inference in a zero-shot manner and cannot adapt to the test scene. As a result, visually plausible reconstructions often contain errors, particularly under occlusions, specularities, and ambiguous cues. To address this, we introduce Free Geometry, a framework that enables feed-forward 3D reconstruction model...

E. 室内 RGB-D 数据集与重建

项目阶段: M4-1 / M4-2 | 论文数: 10

可参考的数据集设计、评测基准、室内几何重建方法。

1. 2605.09231 — An Elastic Shape Variational Autoencoder for Skeleton Pose Trajectories

发表: 2026-05-10 | 分类: cs.CV, stat.ML
作者: Arafat Rahman, Shashwat Kumar, Laura E. Barnes, Anuj Srivastava
摘要: Deep generative models provide flexible frameworks for modeling complex, structured data such as images, videos, 3D objects, and texts. However, when applied to sequences of human skeletons, standard variational autoencoders (VAEs) often allocate substantial capacity to nuisance factors-such as camera orientation, subject scale, viewpoint, and execution speed-rather than the intrinsic geometry of ...

2. 2605.03463 — First Shape, Then Meaning: Efficient Geometry and Semantics Learning for Indoor Reconstruction

发表: 2026-05-05 | 分类: cs.CV
作者: Remi Chierchia, Léo Lebrat, David Ahmedt-Aristizabal, Olivier Salvado 等 (6 人)
摘要: Neural Surface Reconstruction has become a standard methodology for indoor 3D reconstruction, with Signed Distance Functions (SDFs) proving particularly effective for representing scene geometry. A variety of applications require a detailed understanding of the scene context, driving the need for object-level semantic signals. While recent methods successfully integrate semantic labels, they often...

3. 2604.21400 — You Only Gaussian Once: Controllable 3D Gaussian Splatting for Ultra-Densely Sampled Scenes

发表: 2026-04-23 | 分类: cs.CV
作者: Jinrang Jia, Zhenjia Li, Yifeng Shi
摘要: 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, yet existing methods remain predominantly research prototypes ill-suited for production-level deployment. We identify a critical "Industry-Academia Gap" hindering real-world application: unpredictable resource consumption from heuristic Gaussian growth, the "sparsity shield" of current benchmarks that rewards hallucination over phys...

发表: 2026-04-20 | 分类: cs.RO, cs.CV
作者: Jiamin Zheng, Jingwen Yu, Guangcheng Chen, Hong Zhang
摘要: Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We propose a training-free framework that leverages depth foundation models as a structural prior, employing a robust local RANSAC-based alignment to fuse it with raw s...

5. 2604.01605 — F3DGS: Federated 3D Gaussian Splatting for Decentralized Multi-Agent World Modeling

发表: 2026-04-02 | 分类: cs.CV, cs.RO
作者: Morui Zhu, Mohammad Dehghani Tezerjani, Mátyás Szántó, Márton Vaitkus 等 (6 人)
摘要: We present F3DGS, a federated 3D Gaussian Splatting framework for decentralized multi-agent 3D reconstruction. Existing 3DGS pipelines assume centralized access to all observations, which limits their applicability in distributed robotic settings where agents operate independently, and centralized data aggregation may be restricted. Directly extending centralized training to multi-agent systems in...

6. 2603.26690 — SpatialPoint: Spatial-aware Point Prediction for Embodied Localization

发表: 2026-03-16 | 分类: cs.RO, cs.AI, cs.CV
作者: Qiming Zhu, Zhirui Fang, Tianming Zhang, Chuanxiu Liu 等 (6 人)
摘要: Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and language instructions. We instantiate embodied localization with two complementary target types: touchable points, surface-grounded 3D points enabling direct p...

7. 2603.04254 — EmbodiedSplat: Online Feed-Forward Semantic 3DGS for Open-Vocabulary 3D Scene Understanding

发表: 2026-03-04 | 分类: cs.CV
作者: Seungjun Lee, Zihan Wang, Yunsong Wang, Gim Hee Lee
摘要: Understanding a 3D scene immediately with its exploration is essential for embodied tasks, where an agent must construct and comprehend the 3D scene in an online and nearly real-time manner. In this study, we propose EmbodiedSplat, an online feed-forward 3DGS for open-vocabulary scene understanding that enables simultaneous online 3D reconstruction and 3D semantic understanding from the streaming ...

8. 2512.12683 — Quantum Implicit Neural Representations for 3D Scene Reconstruction and Novel View Synthesis

发表: 2025-12-14 | 分类: quant-ph, cs.AI, cs.CV
作者: Yeray Cordero, Paula García-Molina, Fernando Vilariño
摘要: Implicit neural representations (INRs) have become a powerful paradigm for continuous signal modeling and 3D scene reconstruction, yet classical networks suffer from a well-known spectral bias that limits their ability to capture high-frequency details. Quantum Implicit Representation Networks (QIREN) mitigate this limitation by employing parameterized quantum circuits with inherent Fourier struct...

9. 2511.07412 — TwinOR: Photorealistic Digital Twins of Dynamic Operating Rooms for Embodied AI Research 🇨🇳

发表: 2025-11-10 | 分类: cs.CV, cs.RO
作者: Han Zhang, Yiqing Shen, Roger D. Soberanis-Mukul, Ankita Ghosh 等 (14 人)
摘要: Developing embodied AI for intelligent surgical systems requires safe, controllable environments for continual learning and evaluation. However, safety regulations and operational constraints in operating rooms (ORs) limit agents from freely perceiving and interacting in realistic settings. Digital twins provide high-fidelity, risk-free environments for exploration and training. How we may create ...

10. 2510.12387 — Scene Coordinate Reconstruction Priors

发表: 2025-10-14 | 分类: cs.CV
作者: Wenjing Bian, Axel Barroso-Laguna, Tommaso Cavallari, Victor Adrian Prisacariu 等 (5 人)
摘要: Scene coordinate regression (SCR) models have proven to be powerful implicit scene representations for 3D vision, enabling visual relocalization and structure-from-motion. SCR models are trained specifically for one scene. If training images imply insufficient multi-view constraints SCR models degenerate. We present a probabilistic reinterpretation of training SCR models, which allows us to infuse...

F. 视频世界模型（下游应用）

项目阶段: M4-4 | 论文数: 10

本项目数据 pipeline 的最终下游：训练能预测未来视频/动作的 world model。

1. 2605.15185 — Quantitative Video World Model Evaluation for Geometric-Consistency

发表: 2026-05-14 | 分类: cs.CV, cs.AI
作者: Jiaxin Wu, Yihao Pi, Yinling Zhang, Yuheng Li 等 (5 人)
摘要: Generative video models are increasingly studied as implicit world models, yet evaluating whether they produce physically plausible 3D structure and motion remains challenging. Most existing video evaluation pipelines rely heavily on human judgment or learned graders, which can be subjective and weakly diagnostic for geometric failures. We introduce PDI-Bench (Perspective Distortion Index), a quan...

2. 2605.15178 — SANA-WM: Efficient Minute-Scale World Modeling with Hybrid Linear Diffusion Transformer

发表: 2026-05-14 | 分类: cs.CV
作者: Haoyi Zhu, Haozhe Liu, Yuyang Zhao, Tian Ye 等 (9 人)
摘要: We introduce SANA-WM, an efficient 2.6B-parameter open-source world model natively trained for one-minute generation, synthesizing high-fidelity, 720p, minute-scale videos with precise camera control. SANA-WM achieves visual quality comparable to large-scale industrial baselines such as LingBot-World and HY-WorldPlay, while significantly improving efficiency. Four core designs drive our architectu...

3. 2605.15141 — Causal Forcing++: Scalable Few-Step Autoregressive Diffusion Distillation for Real-Time Interactive Video Generation

发表: 2026-05-14 | 分类: cs.CV
作者: Min Zhao, Hongzhou Zhu, Kaiwen Zheng, Zihan Zhou 等 (9 人)
摘要: Real-time interactive video generation requires low-latency, streaming, and controllable rollout. Existing autoregressive (AR) diffusion distillation methods have achieved strong results in the chunk-wise 4-step regime by distilling bidirectional base models into few-step AR students, but they remain limited by coarse response granularity and non-negligible sampling latency. In this paper, we stud...

4. 2605.14937 — Slot-MPC: Goal-Conditioned Model Predictive Control with Object-Centric Representations

发表: 2026-05-14 | 分类: cs.LG, cs.AI, cs.RO
作者: Jonathan Spieler, Angel Villar-Corrales, Sven Behnke
摘要: Predictive world models enable agents to model scene dynamics and reason about the consequences of their actions. Inspired by human perception, object-centric world models capture scene dynamics using object-level representations, which can be used for downstream applications such as action planning. However, most object-centric world models and reinforcement learning (RL) approaches learn reactiv...

5. 2605.14851 — IFPV: An Integrated Multi-Agent Framework for Generative Operational Planning and High-Fidelity Plan Verification

发表: 2026-05-14 | 分类: cs.MA, cs.AI
作者: Zhigao Huang, Zhengqing Hu, Dong Chen, Shaohan Zhang 等 (8 人)
摘要: Operational plan generation and verification are critical for modern complex and rapidly changing battlefield environments, yet traditional generation and verification methods still respectively face the challenges of generation infeasibility and verification insufficiency. To alleviate these limitations, we propose an Integrated Multi-Agent Framework for Generative Operational Planning and High-F...

6. 2605.14757 — ChannelAgent-Empowered Electromagnetic Space World Model: A Case Study on Agent-Driven Channel Generation for 6G AI-Native Air Interface

发表: 2026-05-14 | 分类: eess.SP
作者: Mingyue Li, Li Yu, Yuxiang Zhang, Heng Wang 等 (8 人)
摘要: As sixth-generation (6G) wireless networks evolve toward increasingly heterogeneous scenarios, tasks, and service requirements, conventional artificial intelligence (AI) models remain limited in task-aware decision-making and autonomous adaptation. To address this issue, this paper first proposes a ChannelAgent-empowered electromagnetic space world model, in which wireless intelligence is organize...

7. 2605.14696 — EponaV2: Driving World Model with Comprehensive Future Reasoning

发表: 2026-05-14 | 分类: cs.CV
作者: Jiawei Xu, Zhizhou Zhong, Zhijian Shu, Mingkai Jia 等 (11 人)
摘要: Data scaling plays a pivotal role in the pursuit of general intelligence. However, the prevailing perception-planning paradigm in autonomous driving relies heavily on expensive manual annotations to supervise trajectory planning, which severely limits its scalability. Conversely, although existing perception-free driving world models achieve impressive driving performance, their real-world reasoni...

8. 2605.14398 — Coding Agent Is Good As World Simulator

发表: 2026-05-14 | 分类: cs.AI
作者: Hongyu Wang, Jingquan Wang, Bocheng Zou, Radu Serban 等 (5 人)
摘要: World models have emerged as a powerful paradigm for building interactive simulation environments, with recent video-based approaches demonstrating impressive progress in generating visually plausible dynamics. However, because these models typically infer dynamics from video and represent them in latent states, they do not explicitly enforce physical constraints. As a result, the generated video ...

9. 2605.14382 — Delta Forcing: Trust Region Steering for Interactive Autoregressive Video Generation

发表: 2026-05-14 | 分类: cs.CV, cs.GR, cs.MM
作者: Yuheng Wu, Xiangbo Gao, Tianhao Chen, Xinghao Chen 等 (7 人)
摘要: Interactive real-time autoregressive video generation is essential for applications such as content creation and world modeling, where visual content must adapt to dynamically evolving event conditions. A fundamental challenge lies in balancing reactivity and stability: models must respond promptly to new events while maintaining temporal coherence over long horizons. Existing approaches distill b...

10. 2605.14036 — Enhanced and Efficient Reasoning in Large Learning Models

发表: 2026-05-13 | 分类: cs.AI, cs.CC, cs.CL
作者: Leslie G. Valiant
摘要: In current Large Language Models we can trust the production of smoothly flowing prose on the basis of the principles of machine learning. However, there is no comparably principled basis to justify trust in the content of the text produced. It appears to be conventional wisdom that addressing this issue by adding more principled reasoning is not computationally affordable. Here we propose a pri...

G. ZED 相机相关应用工作

项目阶段: 全周期 | 论文数: 10

用 ZED 系列采集数据的应用论文，参考其采集协议、评测方式、参数配置。

1. 2602.16385 — Adaptive Multi-Scale Channel-Spatial Attention Aggregation Framework for 3D Indoor Semantic Scene Completion Toward Assisting Visually Impaired

发表: 2026-02-18 | 分类: cs.CV
作者: Qi He, XiangXiang Wang, Jingtao Zhang, Yongbin Yu 等 (8 人)
摘要: Independent indoor mobility remains a critical challenge for individuals with visual impairments, largely due to the limited capability of existing assistive systems in detecting fine-grained hazardous objects such as chairs, tables, and small obstacles. These perceptual blind zones substantially increase the risk of collision in unfamiliar environments. To bridge the gap between monocular 3D visi...

2. 2602.09414 — Finite-time Stable Pose Estimation on TSE(3) using Point Cloud and Velocity Sensors

发表: 2026-02-10 | 分类: eess.SY, cs.RO
作者: Nazanin S. Hashkavaei, Abhijit Dongare, Neon Srinivasu, Amit K. Sanyal
摘要: This work presents a finite-time stable pose estimator (FTS-PE) for rigid bodies undergoing rotational and translational motion in three dimensions, using measurements from onboard sensors that provide position vectors to inertially-fixed points and body velocities. The FTS-PE is a full-state observer for the pose (position and orientation) and velocities and is obtained through a Lyapunov analysi...

3. 2512.03886 — A Modular Architecture Design for Autonomous Driving Racing in Controlled Environments

发表: 2025-12-03 | 分类: cs.RO, eess.SY
作者: Brais Fontan-Costas, M. Diaz-Cacho, Ruben Fernandez-Boullon, Manuel Alonso-Carracedo 等 (5 人)
摘要: This paper presents a modular autonomous driving architecture for Formula Student Driverless competition vehicles operating in closed-circuit environments. The perception module employs YOLOv11 for real-time traffic cone detection, achieving 0.93 mAP@0.5 on the FSOCO dataset, combined with neural stereo depth estimation from a ZED 2i camera for 3D cone localization with sub-0.5 m median error at d...

4. 2512.01108 — Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception

发表: 2025-11-30 | 分类: cs.RO
作者: Gabriel Olin, Lu Chen, Nayesha Gandotra, Maxim Likhachev 等 (5 人)
摘要: Intercepting fast moving objects, by its very nature, is challenging because of its tight time constraints. This problem becomes further complicated in the presence of sensor noise because noisy sensors provide, at best, incomplete information, which results in a distribution over target states to be intercepted. Since time is of the essence, to hit the target, the planner must begin directing the...

5. 2509.10466 — A Real-Time Diminished Reality Approach to Privacy in MR Collaboration

发表: 2025-08-21 | 分类: cs.CV, cs.HC
作者: Christian Fane
摘要: Diminished reality (DR) refers to the digital removal of real-world objects by compositing background content in their place. This thesis presents a real-time, inpainting-based DR system designed to enable privacy control in shared-space mixed reality (MR) meetings. The system allows a primary headset user to selectively remove personal or sensitive items from their environment, ensuring that thos...

6. 2504.06464 — Implementation of a Zed 2i Stereo Camera for High-Frequency Shoreline Change and Coastal Elevation Monitoring

发表: 2025-04-08 | 分类: cs.CV
作者: José A. Pilartes-Congo, Matthew Kastl, Michael J. Starek, Marina Vicens-Miquel 等 (5 人)
摘要: The increasing population, thus financial interests, in coastal areas have increased the need to monitor coastal elevation and shoreline change. Though several resources exist to obtain this information, they often lack the required temporal resolution for short-term monitoring (e.g., every hour). To address this issue, this study implements a low-cost ZED 2i stereo camera system and close-range p...

7. 2501.09490 — Comparison of Various SLAM Systems for Mobile Robot in an Indoor Environment

发表: 2025-01-16 | 分类: cs.RO, cs.CV
作者: Maksim Filipenko, Ilya Afanasyev
摘要: This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo cameras. Then we conducted experiments in a typical office environment and collected data from all sensors, running all tested SLAM systems based on the acquired d...

8. 2501.07421 — Empirical Comparison of Four Stereoscopic Depth Sensing Cameras for Robotics Applications

发表: 2025-01-13 | 分类: cs.RO
作者: Lukas Rustler, Vojtech Volprecht, Matej Hoffmann
摘要: Depth sensing is an essential technology in robotics and many other fields. Many depth sensing (or RGB-D) cameras are available on the market and selecting the best one for your application can be challenging. In this work, we tested four stereoscopic RGB-D cameras that sense the distance by using two images from slightly different views. We empirically compared four cameras (Intel RealSense D435,...

发表: 2024-10-27 | 分类: cs.RO
作者: Alice James, Avishkar Seth, Endrowednes Kuantama, Subhas Mukhopadhyay 等 (5 人)
摘要: In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth sensing from the ZED 2i camera, IMU data, and LiDAR measurements, facilitated by the Robot Operating System (ROS) and RTAB-Map. Through custom designed experiments...

10. 2407.18695 — PIV3CAMS: a multi-camera dataset for multiple computer vision problems and its application to novel view-point synthesis

发表: 2024-07-26 | 分类: cs.CV
作者: Sohyeong Kim, Martin Danelljan, Radu Timofte, Luc Van Gool 等 (5 人)
摘要: The modern approaches for computer vision tasks significantly rely on machine learning, which requires a large number of quality images. While there is a plethora of image datasets with a single type of images, there is a lack of datasets collected from multiple cameras. In this thesis, we introduce Paired Image and Video data from three CAMeraS, namely PIV3CAMS, aimed at multiple computer vision ...

H. Orbbec / Femto / Azure Kinect 相关工作

项目阶段: 国产化 / 替代硬件 | 论文数: 10

奥比中光、乐视/微视 Femto、微软 Azure Kinect 等 RGB-D 相机的应用论文。

1. 2605.06351 — SIGMA-ASL: Sensor-Integrated Multimodal Dataset for Sign Language Recognition

发表: 2026-05-07 | 分类: cs.HC
作者: Xiaofang Xiao, Guangchao Li, Guangrong Zhao, Qi Lin 等 (8 人)
摘要: Automatic sign language recognition (SLR) has become a key enabler of inclusive human-computer interaction, fostering seamless communication between deaf individuals and hearing communities. Despite significant advances in multimodal learning, existing SLR research remains dominated by vision-based datasets, which are limited by sensitivity to lighting and occlusion, privacy concerns, and a lack o...

2. 2509.11574 — Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fps

发表: 2025-09-15 | 分类: cs.CV
作者: Zhexi Peng, Kun Zhou, Tianjia Shao
摘要: While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging behind geometry-based approaches like KinectFusion (hundreds of fps). This limitation stems from the heavy computational burden: modeling scenes requires numerous...

3. 2401.10037 — Depth Over RGB: Automatic Evaluation of Open Surgery Skills Using Depth Camera

发表: 2024-01-18 | 分类: cs.CV
作者: Ido Zuckerman, Nicole Werner, Jonathan Kouchly, Emma Huston 等 (7 人)
摘要: Purpose: In this paper, we present a novel approach to the automatic evaluation of open surgery skills using depth cameras. This work is intended to show that depth cameras achieve similar results to RGB cameras, which is the common method in the automatic evaluation of open surgery skills. Moreover, depth cameras offer advantages such as robustness to lighting variations, camera positioning, simp...

4. 2401.08629 — Immature Green Apple Detection and Sizing in Commercial Orchards using YOLOv8 and Shape Fitting Techniques

发表: 2023-12-08 | 分类: cs.CV
作者: Ranjan Sapkota, Dawood Ahmed, Martin Churuvija, Manoj Karkee
摘要: Detecting and estimating size of apples during the early stages of growth is crucial for predicting yield, pest management, and making informed decisions related to crop-load management, harvest and post-harvest logistics, and marketing. Traditional fruit size measurement methods are laborious and timeconsuming. This study employs the state-of-the-art YOLOv8 object detection and instance segmentat...

5. 2311.09029 — Self-Annotated 3D Geometric Learning for Smeared Points Removal

发表: 2023-11-15 | 分类: cs.CV
作者: Miaowei Wang, Daniel Morris
摘要: There has been significant progress in improving the accuracy and quality of consumer-level dense depth sensors. Nevertheless, there remains a common depth pixel artifact which we call smeared points. These are points not on any 3D surface and typically occur as interpolations between foreground and background objects. As they cause fictitious surfaces, these points have the potential to harm appl...

6. 2306.02263 — MAVD: The First Open Large-Scale Mandarin Audio-Visual Dataset with Depth Information

发表: 2023-06-04 | 分类: cs.SD, cs.CV
作者: Jianrong Wang, Yuchen Huo, Li Liu, Tianyi Xu 等 (6 人)
摘要: Audio-visual speech recognition (AVSR) gains increasing attention from researchers as an important part of human-computer interaction. However, the existing available Mandarin audio-visual datasets are limited and lack the depth information. To address this issue, this work establishes the MAVD, a new large-scale Mandarin multimodal corpus comprising 12,484 utterances spoken by 64 native Chinese s...

7. 2304.13282 — Machine Vision-Based Crop-Load Estimation Using YOLOv8

发表: 2023-04-26 | 分类: cs.RO
作者: Dawood Ahmed, Ranjan Sapkota, Martin Churuvija, Manoj Karkee
摘要: Labor shortages in fruit crop production have prompted the development of mechanized and automated machines as alternatives to labor-intensive orchard operations such as harvesting, pruning, and thinning. Agricultural robots capable of identifying tree canopy parts and estimating geometric and topological parameters, such as branch diameter, length, and angles, can optimize crop yields through aut...

8. 2304.08210 — ATTACH Dataset: Annotated Two-Handed Assembly Actions for Human Action Understanding

发表: 2023-04-17 | 分类: cs.RO, cs.CV, cs.LG
作者: Dustin Aganian, Benedict Stephan, Markus Eisenbach, Corinna Stretz 等 (5 人)
摘要: With the emergence of collaborative robots (cobots), human-robot collaboration in industrial manufacturing is coming into focus. For a cobot to act autonomously and as an assistant, it must understand human actions during assembly. To effectively train models for this task, a dataset containing suitable assembly actions in a realistic setting is crucial. For this purpose, we present the ATTACH dat...

9. 2303.16196 — SparseNeRF: Distilling Depth Ranking for Few-shot Novel View Synthesis

发表: 2023-03-28 | 分类: cs.CV
作者: Guangcong Wang, Zhaoxi Chen, Chen Change Loy, Ziwei Liu
摘要: Neural Radiance Field (NeRF) significantly degrades when only a limited number of views are available. To complement the lack of 3D information, depth-based models, such as DSNeRF and MonoSDF, explicitly assume the availability of accurate depth maps of multiple views. They linearly scale the accurate depth maps as supervision to guide the predicted depth of few-shot NeRFs. However, accurate depth...

10. 2302.05991 — Digital Twin Tracking Dataset (DTTD): A New RGB+Depth 3D Dataset for Longer-Range Object Tracking Applications

发表: 2023-02-12 | 分类: cs.CV
作者: Weiyu Feng, Seth Z. Zhao, Chuanyu Pan, Adam Chang 等 (7 人)
摘要: Digital twin is a problem of augmenting real objects with their digital counterparts. It can underpin a wide range of applications in augmented reality (AR), autonomy, and UI/UX. A critical component in a good digital-twin system is real-time, accurate 3D object tracking. Most existing works solve 3D object tracking through the lens of robotic grasping, employ older generations of depth sensors, a...

I. RGB-D 室内重建

项目阶段: M2-2 / M3-5 | 论文数: 10

RGB-D 输入下的室内场景重建，与本项目的房间级建图任务高度对齐。

发表: 2026-05-05 | 分类: cs.RO
作者: Prasoon Kumar, Akshay Deepak, Sandeep Kumar
摘要: Reliable localization in GPS-denied, visually degraded environments is critical for autonomous UAV opera- tions. This paper presents a systematic comparative evaluation of five V-SLAM systems ORB-SLAM3, DPVO, DROID-SLAM, DUSt3R, and MASt3R spanning classical, deep learning, recurrent, and Vision Transformer (ViT) paradigms. Experiments are conducted on curated sequences from four public benchmarks...

2. 2604.28115 — FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction

发表: 2026-04-30 | 分类: cs.RO, cs.CV
作者: Zeyu Jiang, Changqing Zhou, Xingxing Zuo, Changhao Chen
摘要: Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for open-vocabulary occupancy prediction from monocular or RGB-D sequences. Unlike prior approaches that require voxel-level supervision and ground-truth camera poses, FreeOcc operates without 3D annotations, pose ground tr...

3. 2604.25404 — Robust Graph Matching through Semantic Relationship Generation for SLAM

发表: 2026-04-28 | 分类: cs.RO
作者: David Perez-Saura, Jose Andres Millan-Romera, Miguel Fernandez-Cortizas, Holger Voos 等 (6 人)
摘要: Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in environments with repetitive or symmetric layouts, where structural cues alone are often insufficient to resolve ambiguities. We propose a semantic-enhanced graph matchi...

4. 2604.24707 — Passage-Aware Structural Mapping for RGB-D Visual SLAM

发表: 2026-04-27 | 分类: cs.RO
作者: Ali Tourani, Miguel Fernandez-Cortizas, Saad Ejaz, David Pérez Saura 等 (7 人)
摘要: Doorways and passages are critical structural elements for indoor robot navigation, yet they remain underexplored in modern Visual SLAM (VSLAM) frameworks. This paper presents a passage-aware structural mapping approach for RGB-D VSLAM that detects doors and traversable openings by jointly fusing geometric, semantic, and topological cues. Doors are modeled as planar entities embedded within walls ...

5. 2604.19025 — RoomRecon: High-Quality Textured Room Layout Reconstruction on Mobile Devices

发表: 2026-04-21 | 分类: cs.RO
作者: Seok Joon Kim, Dinh Duc Cao, Federica Spinola, Se Jin Lee 等 (5 人)
摘要: Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current technologies still face limitations, such as the inability to reflect minor scene changes without a complete recapture, the lack of semantic scene understandin...

发表: 2026-04-20 | 分类: cs.RO, cs.CV
作者: Jiamin Zheng, Jingwen Yu, Guangcheng Chen, Hong Zhang
摘要: Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We propose a training-free framework that leverages depth foundation models as a structural prior, employing a robust local RANSAC-based alignment to fuse it with raw s...

7. 2604.15052 — CAVERS: Multimodal SLAM Data from a Natural Karstic Cave with Ground Truth Motion Capture

发表: 2026-04-16 | 分类: cs.RO
作者: Giacomo Franchini, David Rodríguez-Martínez, Alfonso Martínez-Petersen, C. J. Pérez-del-Pulgar 等 (5 人)
摘要: Autonomous robots operating in natural karstic caves face perception and navigation challenges that are qualitatively distinct from those encountered in mines or tunnels: irregular geometry, reflective wet surfaces, near-zero ambient light, and complex branching passages. Yet publicly available datasets targeting this environment remain scarce and offer limited sensing modalities and environmental...

8. 2604.05621 — FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videos

发表: 2026-04-07 | 分类: cs.CV
作者: Alexandros Delitzas, Chenyangguang Zhang, Alexey Gavryushin, Tommaso Di Mario 等 (11 人)
摘要: We present FunRec, a method for reconstructing functional 3D digital twins of indoor scenes directly from egocentric RGB-D interaction videos. Unlike existing methods on articulated reconstruction, which rely on controlled setups, multi-state captures, or CAD priors, FunRec operates directly on in-the-wild human interaction sequences to recover interactable 3D scenes. It automatically discovers ar...

9. 2603.13917 — Evaluation of Visual Place Recognition Methods for Image Pair Retrieval in 3D Vision and Robotics

发表: 2026-03-14 | 分类: cs.CV
作者: Dennis Haitz, Athradi Shritish Shetty, Michael Weinmann, Markus Ulrich
摘要: Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for registration pipelines, where the goal is to find top-matching image pairs between two disjoint image sets for downstream tasks such as scene registration, SLAM, ...

10. 2512.12378 — M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstruction

发表: 2025-12-13 | 分类: cs.CV
作者: Junqiao Fan, Yunjiao Zhou, Yizhuo Yang, Xinyuan Cui 等 (9 人)
摘要: Human mesh reconstruction (HMR) provides direct insights into body-environment interaction, which enables various immersive applications. While existing large-scale HMR datasets rely heavily on line-of-sight RGB input, vision-based sensing is limited by occlusion, lighting variation, and privacy concerns. To overcome these limitations, recent efforts have explored radio-frequency (RF) mmWave radar...

J. 神经立体深度（指定 RAFT/IGEV/Foundation 家族）