Daily Papers

Previous works that leverage video models for image-to-3D scene generation often suffer from geometric distortions and blurry content. Using video generation models to implicitly maintain geometric consistency according to a single-frame input is ineffective. In this paper, we present a two-stage method, named GeoWorld, that renovates the image-to-3D scene generation pipeline by providing full-frame geometry features. The first-stage video generation model, followed by a multi-view geometry model, produces full-frame geometry features, which are then used as a mental draft of geometric conditions to aid the second-stage video-generation model. A geometric loss is proposed to impose real-world geometric constraints, and a geometry adaptation module is introduced to ensure the effective utilization of geometry features. Thanks to full-frame geometric modeling, the two smaller video models in our two-stage method can generate higher-fidelity 3D scenes than SOTA methods, while being even faster, e.g. 7.5times faster than Hunyuan-Voyager. Project page: https://peaes.github.io/GeoWorld.

We address the problem of generating videos from unposed internet photos. A handful of input images serve as keyframes, and our model interpolates between them to simulate a path moving between the cameras. Given random images, a model's ability to capture underlying geometry, recognize scene identity, and relate frames in terms of camera position and orientation reflects a fundamental understanding of 3D structure and scene layout. However, existing video models such as Luma Dream Machine fail at this task. We design a self-supervised method that takes advantage of the consistency of videos and variability of multiview internet photos to train a scalable, 3D-aware video model without any 3D annotations such as camera parameters. We validate that our method outperforms all baselines in terms of geometric and appearance consistency. We also show our model benefits applications that enable camera control, such as 3D Gaussian Splatting. Our results suggest that we can scale up scene-level 3D learning using only 2D data such as videos and multiview internet photos.

Recently, methods leveraging diffusion model priors to assist monocular geometric estimation (e.g., depth and normal) have gained significant attention due to their strong generalization ability. However, most existing works focus on estimating geometric properties within the camera coordinate system of individual video frames, neglecting the inherent ability of diffusion models to determine inter-frame correspondence. In this work, we demonstrate that, through appropriate design and fine-tuning, the intrinsic consistency of video generation models can be effectively harnessed for consistent geometric estimation. Specifically, we 1) select geometric attributes in the global coordinate system that share the same correspondence with video frames as the prediction targets, 2) introduce a novel and efficient conditioning method by reusing positional encodings, and 3) enhance performance through joint training on multiple geometric attributes that share the same correspondence. Our results achieve superior performance in predicting global geometric attributes in videos and can be directly applied to reconstruction tasks. Even when trained solely on static video data, our approach exhibits the potential to generalize to dynamic video scenes.

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and object-centric 3D datasets have shown to be effective in training models that have 3D understanding of objects. However, applying a similar approach to real-world objects and scenes is difficult due to a lack of large-scale data. Videos are a potential source for real-world 3D data, but finding diverse yet corresponding views of the same content has shown to be difficult at scale. Furthermore, standard videos come with fixed viewpoints, determined at the time of capture. This restricts the ability to access scenes from a variety of more diverse and potentially useful perspectives. We argue that large scale 360 videos can address these limitations to provide: scalable corresponding frames from diverse views. In this paper, we introduce 360-1M, a 360 video dataset, and a process for efficiently finding corresponding frames from diverse viewpoints at scale. We train our diffusion-based model, Odin, on 360-1M. Empowered by the largest real-world, multi-view dataset to date, Odin is able to freely generate novel views of real-world scenes. Unlike previous methods, Odin can move the camera through the environment, enabling the model to infer the geometry and layout of the scene. Additionally, we show improved performance on standard novel view synthesis and 3D reconstruction benchmarks.

Visual geometry transformers have become powerful architectures for multi-view 3D reconstruction, enabling joint prediction of multiple 3D attributes in a feed-forward manner. However, their computational cost grows quadratically with the input sequence length due to the global attention layers inside these models. This limits both their scalability and efficiency. In this work, we address this challenge with a simple yet general strategy: restricting the number of key/value tokens that each query interacts with during global attention. To achieve effective token selection, we introduce a two-stage framework. First, an inter-frame selection step operates at the frame level to identify frames that should be preserved. Second, an intra-frame selection step further discards more redundant tokens within the selected frames. Our analysis highlights the advantage of a diversity-based strategy for inter-frame selection, which ensures broad coverage of the scene. For intra-frame selection, we show that layer-aware sparsification is necessary, with the selection process guided by the entropy of the global attention pattern. Our approach offers a superior speed-accuracy trade-off compared to existing solutions. Extensive experiments show that it accelerates visual geometry transformers by over 85% for scenes with 500 images while maintaining, or even improving, baseline performance, which hints that how our token selection strategy can play a crucial role in future applications of visual geometry transformers. Our project website is available at https://zsh2000.github.io/good-token-hunting.github.io.

Geometry estimation from perspective images has greatly advanced, maturing to the point where off-the-shelf foundation models are able to reconstruct 3D scene structure not only from multi-view imagery, but even from a single view. A natural extension is 3D reconstruction from panoramas, with the exciting prospect of recovering a full 360-degree scene from a single panoramic image. In this work, we introduce PaGeR (Panoramic Geometry Reconstruction), a framework to lift powerful 3D foundation models designed for perspective imagery to the panorama domain. Our strategy is to start from a pre-trained transformer for 3D reconstruction and turn it into a unified high-performance model that predicts scale-invariant depth, metric depth, surface normals, and sky masks from both perspective and omnidirectional images, in a single forward pass. By keeping architectural changes to a minimum and mixing perspective and panoramic images during training, PaGeR retains the rich 3D prior of the underlying foundation model while learning to also estimate geometrically consistent 360-degree scenes from single panoramas. We extensively test our method in both indoor and outdoor environments and find that it delivers state-of-the-art performance and excellent zero-shot performance across a wide range of scenes.

We introduce GeoDANO, a geometric vision-language model (VLM) with a domain-agnostic vision encoder, for solving plane geometry problems. Although VLMs have been employed for solving geometry problems, their ability to recognize geometric features remains insufficiently analyzed. To address this gap, we propose a benchmark that evaluates the recognition of visual geometric features, including primitives such as dots and lines, and relations such as orthogonality. Our preliminary study shows that vision encoders often used in general-purpose VLMs, e.g., OpenCLIP, fail to detect these features and struggle to generalize across domains. We develop GeoCLIP, a CLIP based model trained on synthetic geometric diagram-caption pairs to overcome the limitation. Benchmark results show that GeoCLIP outperforms existing vision encoders in recognizing geometric features. We then propose our VLM, GeoDANO, which augments GeoCLIP with a domain adaptation strategy for unseen diagram styles. GeoDANO outperforms specialized methods for plane geometry problems and GPT-4o on MathVerse.

Recovering high-quality depth maps from compressed sources has gained significant attention due to the limitations of consumer-grade depth cameras and the bandwidth restrictions during data transmission. However, current methods still suffer from two challenges. First, bit-depth compression produces a uniform depth representation in regions with subtle variations, hindering the recovery of detailed information. Second, densely distributed random noise reduces the accuracy of estimating the global geometric structure of the scene. To address these challenges, we propose a novel framework, termed geometry-decoupled network (GDNet), for compressed depth map super-resolution that decouples the high-quality depth map reconstruction process by handling global and detailed geometric features separately. To be specific, we propose the fine geometry detail encoder (FGDE), which is designed to aggregate fine geometry details in high-resolution low-level image features while simultaneously enriching them with complementary information from low-resolution context-level image features. In addition, we develop the global geometry encoder (GGE) that aims at suppressing noise and extracting global geometric information effectively via constructing compact feature representation in a low-rank space. We conduct experiments on multiple benchmark datasets, demonstrating that our GDNet significantly outperforms current methods in terms of geometric consistency and detail recovery. In the ECCV 2024 AIM Compressed Depth Upsampling Challenge, our solution won the 1st place award. Our codes are available at: https://github.com/Ian0926/GDNet.

Novel view synthesis from an in-the-wild video is difficult due to challenges like scene dynamics and lack of parallax. While existing methods have shown promising results with implicit neural radiance fields, they are slow to train and render. This paper revisits explicit video representations to synthesize high-quality novel views from a monocular video efficiently. We treat static and dynamic video content separately. Specifically, we build a global static scene model using an extended plane-based scene representation to synthesize temporally coherent novel video. Our plane-based scene representation is augmented with spherical harmonics and displacement maps to capture view-dependent effects and model non-planar complex surface geometry. We opt to represent the dynamic content as per-frame point clouds for efficiency. While such representations are inconsistency-prone, minor temporal inconsistencies are perceptually masked due to motion. We develop a method to quickly estimate such a hybrid video representation and render novel views in real time. Our experiments show that our method can render high-quality novel views from an in-the-wild video with comparable quality to state-of-the-art methods while being 100x faster in training and enabling real-time rendering.

This paper presents WALDO (WArping Layer-Decomposed Objects), a novel approach to the prediction of future video frames from past ones. Individual images are decomposed into multiple layers combining object masks and a small set of control points. The layer structure is shared across all frames in each video to build dense inter-frame connections. Complex scene motions are modeled by combining parametric geometric transformations associated with individual layers, and video synthesis is broken down into discovering the layers associated with past frames, predicting the corresponding transformations for upcoming ones and warping the associated object regions accordingly, and filling in the remaining image parts. Extensive experiments on multiple benchmarks including urban videos (Cityscapes and KITTI) and videos featuring nonrigid motions (UCF-Sports and H3.6M), show that our method consistently outperforms the state of the art by a significant margin in every case. Code, pretrained models, and video samples synthesized by our approach can be found in the project webpage https://16lemoing.github.io/waldo.

Generating a street-level 3D scene from a single satellite image is a crucial yet challenging task. Current methods present a stark trade-off: geometry-colorization models achieve high geometric fidelity but are typically building-focused and lack semantic diversity. In contrast, proxy-based models use feed-forward image-to-3D frameworks to generate holistic scenes by jointly learning geometry and texture, a process that yields rich content but coarse and unstable geometry. We attribute these geometric failures to the extreme viewpoint gap and sparse, inconsistent supervision inherent in satellite-to-street data. We introduce Sat3DGen to address these fundamental challenges, which embodies a geometry-first methodology. This methodology enhances the feed-forward paradigm by integrating novel geometric constraints with a perspective-view training strategy, explicitly countering the primary sources of geometric error. This geometry-centric strategy yields a dramatic leap in both 3D accuracy and photorealism. For validation, we first constructed a new benchmark by pairing the VIGOR-OOD test set with high-resolution DSM data. On this benchmark, our method improves geometric RMSE from 6.76m to 5.20m. Crucially, this geometric leap also boosts photorealism, reducing the Fréchet Inception Distance (FID) from sim40 to 19 against the leading method, Sat2Density++, despite using no extra tailored image-quality modules. We demonstrate the versatility of our high-quality 3D assets through diverse downstream applications, including semantic-map-to-3D synthesis, multi-camera video generation, large-scale meshing, and unsupervised single-image Digital Surface Model (DSM) estimation. The code has been released on https://github.com/qianmingduowan/Sat3DGen.

3D scene reconstruction is a long-standing vision task. Existing approaches can be categorized into geometry-based and learning-based methods. The former leverages multi-view geometry but can face catastrophic failures due to the reliance on accurate pixel correspondence across views. The latter was proffered to mitigate these issues by learning 2D or 3D representation directly. However, without a large-scale video or 3D training data, it can hardly generalize to diverse real-world scenarios due to the presence of tens of millions or even billions of optimization parameters in the deep network. Recently, robust monocular depth estimation models trained with large-scale datasets have been proven to possess weak 3D geometry prior, but they are insufficient for reconstruction due to the unknown camera parameters, the affine-invariant property, and inter-frame inconsistency. Here, we propose a novel test-time optimization approach that can transfer the robustness of affine-invariant depth models such as LeReS to challenging diverse scenes while ensuring inter-frame consistency, with only dozens of parameters to optimize per video frame. Specifically, our approach involves freezing the pre-trained affine-invariant depth model's depth predictions, rectifying them by optimizing the unknown scale-shift values with a geometric consistency alignment module, and employing the resulting scale-consistent depth maps to robustly obtain camera poses and achieve dense scene reconstruction, even in low-texture regions. Experiments show that our method achieves state-of-the-art cross-dataset reconstruction on five zero-shot testing datasets.

Multi-view image generation holds significant application value in computer vision, particularly in domains like 3D reconstruction, virtual reality, and augmented reality. Most existing methods, which rely on extending single images, face notable computational challenges in maintaining cross-view consistency and generating high-resolution outputs. To address these issues, we propose the Geometry-guided Multi-View Diffusion Model, which incorporates mechanisms for extracting multi-view geometric information and adjusting the intensity of geometric features to generate images that are both consistent across views and rich in detail. Specifically, we design a multi-view geometry information extraction module that leverages depth maps, normal maps, and foreground segmentation masks to construct a shared geometric structure, ensuring shape and structural consistency across different views. To enhance consistency and detail restoration during generation, we develop a decoupled geometry-enhanced attention mechanism that strengthens feature focus on key geometric details, thereby improving overall image quality and detail preservation. Furthermore, we apply an adaptive learning strategy that fine-tunes the model to better capture spatial relationships and visual coherence between the generated views, ensuring realistic results. Our model also incorporates an iterative refinement process that progressively improves the output quality through multiple stages of image generation. Finally, a dynamic geometry information intensity adjustment mechanism is proposed to adaptively regulate the influence of geometric data, optimizing overall quality while ensuring the naturalness of generated images. More details can be found on the project page: https://sobeymil.github.io/GeoMVD.com.

We present 3DScenePrompt, a framework that generates the next video chunk from arbitrary-length input while enabling precise camera control and preserving scene consistency. Unlike methods conditioned on a single image or a short clip, we employ dual spatio-temporal conditioning that reformulates context-view referencing across the input video. Our approach conditions on both temporally adjacent frames for motion continuity and spatially adjacent content for scene consistency. However, when generating beyond temporal boundaries, directly using spatially adjacent frames would incorrectly preserve dynamic elements from the past. We address this by introducing a 3D scene memory that represents exclusively the static geometry extracted from the entire input video. To construct this memory, we leverage dynamic SLAM with our newly introduced dynamic masking strategy that explicitly separates static scene geometry from moving elements. The static scene representation can then be projected to any target viewpoint, providing geometrically consistent warped views that serve as strong 3D spatial prompts while allowing dynamic regions to evolve naturally from temporal context. This enables our model to maintain long-range spatial coherence and precise camera control without sacrificing computational efficiency or motion realism. Extensive experiments demonstrate that our framework significantly outperforms existing methods in scene consistency, camera controllability, and generation quality. Project page : https://cvlab-kaist.github.io/3DScenePrompt/

Video spatial reasoning requires accumulating viewpoint-dependent evidence over time while retaining information useful to the question being asked. Existing spatial video-language models improve geometric perception and long-range context modeling, but often treat memory as a generic temporal cache, which can introduce redundant or irrelevant geometry and weaken long-horizon reasoning. We propose \ours, a question-guided geometric memory framework for video spatial reasoning. \ours injects camera-conditioned geometry into visual tokens and maintains two complementary memories: a Fine-Grained Context Bank for recent dense features and camera states, and a Semantic-Geometric Evidence Bank for compact long-range evidence. Each candidate frame is scored by the product of Q-Former-based question relevance and novelty with respect to the retained bank; this score is stored and reused during reading, while a capacity-based replacement rule keeps the bank compact. During reasoning, both memories are read before update and adaptively fused with the current frame representation. Experiments on VSI-Bench and VSTI-Bench show that \ours achieves state-of-the-art performance among evaluated spatial reasoning models, validating the effectiveness of question-guided geometric memory. Ablations further verify the contribution of the proposed evidence scoring mechanism.

Camera motion is a fundamental geometric signal that shapes visual perception and cinematic style, yet current video-capable vision-language models (VideoLLMs) rarely represent it explicitly and often fail on fine-grained motion primitives. We address this gap with a framework of benchmarking, diagnosis, and injection. We curate CameraMotionDataset, a large-scale synthetic dataset with explicit camera control, formulate camera motion as constraint-aware multi-label recognition, and construct a VQA benchmark--CameraMotionVQA. Across diverse off-the-shelf VideoLLMs, we observe substantial errors in recognizing camera motion primitives. Probing experiments on a Qwen2.5-VL vision encoder suggest that camera motion cues are weakly represented, especially in deeper ViT blocks, helping explain the observed failure modes. To bridge this gap without costly training or fine-tuning, we propose a lightweight, model-agnostic pipeline that extracts geometric camera cues from 3D foundation models (3DFMs), predicts constrained motion primitives with a temporal classifier, and injects them into downstream VideoLLM inference via structured prompting. Experiments demonstrate improved motion recognition and more camera-aware model responses, highlighting geometry-driven cue extraction and structured prompting as practical steps toward a camera-aware VideoLLM and VLA system. The dataset and benchmark is publicly available at https://hf.co/datasets/fengyee/camera-motion-dataset-and-benchmark.

Panoramic image stitching provides a unified, wide-angle view of a scene that extends beyond the camera's field of view. Stitching frames of a panning video into a panoramic photograph is a well-understood problem for stationary scenes, but when objects are moving, a still panorama cannot capture the scene. We present a method for synthesizing a panoramic video from a casually-captured panning video, as if the original video were captured with a wide-angle camera. We pose panorama synthesis as a space-time outpainting problem, where we aim to create a full panoramic video of the same length as the input video. Consistent completion of the space-time volume requires a powerful, realistic prior over video content and motion, for which we adapt generative video models. Existing generative models do not, however, immediately extend to panorama completion, as we show. We instead apply video generation as a component of our panorama synthesis system, and demonstrate how to exploit the strengths of the models while minimizing their limitations. Our system can create video panoramas for a range of in-the-wild scenes including people, vehicles, and flowing water, as well as stationary background features.

Vision foundation models (VFMs) and Bird's Eye View (BEV) representation have advanced visual perception substantially, yet their internal spatial representations assume the rectilinear geometry of pinhole cameras. Fisheye cameras, widely deployed on production autonomous vehicles for their surround-view coverage, exhibit severe radial distortion that renders these representations geometrically inconsistent. At the same time, the scarcity of large-scale fisheye annotations makes retraining foundation models from scratch impractical. We present \ours, a lightweight framework that adapts frozen VFMs to fisheye geometry through two components: a frozen DINOv2 backbone with Low-Rank Adaptation (LoRA) that transfers rich self-supervised features to fisheye without task-specific pretraining, and Fisheye Rotary Position Embedding (FishRoPE), which reparameterizes the attention mechanism in the spherical coordinates of the fisheye projection so that both self-attention and cross-attention operate on angular separation rather than pixel distance. FishRoPE is architecture-agnostic, introduces negligible computational overhead, and naturally reduces to the standard formulation under pinhole geometry. We evaluate \ours on WoodScape 2D detection (54.3 mAP) and SynWoodScapes BEV segmentation (65.1 mIoU), where it achieves state-of-the-art results on both benchmarks.

Geometric foundation models show promise in 3D reconstruction, yet their progress is severely constrained by the scarcity of diverse, large-scale 3D annotations. While Internet videos offer virtually unlimited raw data, utilizing them as a scaling source for geometric learning is challenging due to the absence of ground-truth geometry and the presence of observational noise. To address this, we propose SAGE, a framework for Scalable Adaptation of GEometric foundation models from raw video streams. SAGE leverages a hierarchical mining pipeline to transform videos into training trajectories and hybrid supervision: (1) Informative training trajectory selection; (2) Sparse Geometric Anchoring via SfM point clouds for global structural guidance; and (3) Dense Differentiable Consistency via 3D Gaussian rendering for multi-view constraints. To prevent catastrophic forgetting, we introduce a regularization strategy using anchor data. Extensive experiments show that SAGE significantly enhances zero-shot generalization, reducing Chamfer Distance by 20-42% on unseen benchmarks (7Scenes, TUM-RGBD, Matterport3D) compared to state-of-the-art baselines. To our knowledge, SAGE pioneers the adaptation of geometric foundation models via Internet video, establishing a scalable paradigm for general-purpose 3D learning.

We investigate a challenging task of dynamic scene geometry estimation, which requires representing both spatial and temporal features. Typically, existing methods align the two features into a unified latent space to model scene geometry. However, this unified paradigm suffers from potential mismatched representation due to the heterogeneous nature between spatial and temporal features. In this work, we propose 4D-VGGT, a general foundation model with divide-and-conquer spatiotemporal representation for dynamic scene geometry. Our model is divided into three aspects: 1) Multi-setting input. We design an adaptive visual grid that supports input sequences with arbitrary numbers of views and time steps. 2) Multi-level representation. We propose a cross-view global fusion for spatial representation and a cross-time local fusion for temporal representation. 3) Multi-task prediction. We append multiple task-specific heads to spatiotemporal representations, enabling a comprehensive visual geometry estimation for dynamic scenes. Under this unified framework, these components enhance the feature discriminability and application universality of our model for dynamic scenes. In addition, we integrate multiple geometry datasets to train our model and conduct extensive experiments to verify the effectiveness of our method across various tasks on multiple dynamic scene geometry benchmarks.

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the omnidirectional depth and camera motion from a 360{\deg} video. In particular, starting from the SfMLearner, which is designed for cameras with normal field-of-view, we introduce three key features to process 360{\deg} images efficiently. Firstly, we convert each image from equirectangular projection to cubic projection in order to avoid image distortion. In each network layer, we use Cube Padding (CP), which pads intermediate features from adjacent faces, to avoid image boundaries. Secondly, we propose a novel "spherical" photometric consistency constraint on the whole viewing sphere. In this way, no pixel will be projected outside the image boundary which typically happens in images with normal field-of-view. Finally, rather than naively estimating six independent camera motions (i.e., naively applying SfM-Learner to each face on a cube), we propose a novel camera pose consistency loss to ensure the estimated camera motions reaching consensus. To train and evaluate our approach, we collect a new PanoSUNCG dataset containing a large amount of 360{\deg} videos with groundtruth depth and camera motion. Our approach achieves state-of-the-art depth prediction and camera motion estimation on PanoSUNCG with faster inference speed comparing to equirectangular. In real-world indoor videos, our approach can also achieve qualitatively reasonable depth prediction by acquiring model pre-trained on PanoSUNCG.

Predictive world models that simulate future observations under explicit camera control are fundamental to interactive AI. Despite rapid advances, current systems lack spatial persistence: they fail to maintain stable scene structures over long trajectories, frequently hallucinating details when cameras revisit previously observed locations. We identify that this geometric drift stems from reliance on screen-space positional embeddings, which conflict with the projective geometry required for 3D consistency. We introduce ViewRope, a geometry-aware encoding that injects camera-ray directions directly into video transformer self-attention layers. By parameterizing attention with relative ray geometry rather than pixel locality, ViewRope provides a model-native inductive bias for retrieving 3D-consistent content across temporal gaps. We further propose Geometry-Aware Frame-Sparse Attention, which exploits these geometric cues to selectively attend to relevant historical frames, improving efficiency without sacrificing memory consistency. We also present ViewBench, a diagnostic suite measuring loop-closure fidelity and geometric drift. Our results demonstrate that ViewRope substantially improves long-term consistency while reducing computational costs.

360^circ videos offer a hyper-immersive experience that allows the viewers to explore a dynamic scene from full 360 degrees. To achieve more user-friendly and personalized content creation in 360^circ video format, we seek to lift standard perspective videos into 360^circ equirectangular videos. To this end, we introduce Imagine360, the first perspective-to-360^circ video generation framework that creates high-quality 360^circ videos with rich and diverse motion patterns from video anchors. Imagine360 learns fine-grained spherical visual and motion patterns from limited 360^circ video data with several key designs. 1) Firstly we adopt the dual-branch design, including a perspective and a panorama video denoising branch to provide local and global constraints for 360^circ video generation, with motion module and spatial LoRA layers fine-tuned on extended web 360^circ videos. 2) Additionally, an antipodal mask is devised to capture long-range motion dependencies, enhancing the reversed camera motion between antipodal pixels across hemispheres. 3) To handle diverse perspective video inputs, we propose elevation-aware designs that adapt to varying video masking due to changing elevations across frames. Extensive experiments show Imagine360 achieves superior graphics quality and motion coherence among state-of-the-art 360^circ video generation methods. We believe Imagine360 holds promise for advancing personalized, immersive 360^circ video creation.

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 quantitative framework for auditing geometric coherence in generated videos. Given a generated clip, we obtain object-centric observations via segmentation and point tracking (e.g., SAM 2, MegaSaM, and CoTracker3), lift them to 3D world-space coordinates via monocular reconstruction, and compute a set of projective-geometry residuals capturing three failure dimensions: scale-depth alignment, 3D motion consistency, and 3D structural rigidity. To support systematic evaluation, we build PDI-Dataset, covering diverse scenarios designed to stress these geometric constraints. Across state-of-the-art video generators, PDI reveals consistent geometry-specific failure modes that are not captured by common perceptual metrics, and provides a diagnostic signal for progress toward physically grounded video generation and physical world model. Our code and dataset can be found at https://pdi-bench.github.io/.

Generating 4D scenes from a single-view video is inherently ill-posed: a single viewpoint lacks the information needed to recover a complete, dynamic scene with full coverage. Existing methods are typically limited to monocular videos, simple 3D effects, or only small viewpoint perturbations around the original viewpoint, falling short of true 4D generation. Meanwhile, the lack of large-scale datasets capturing full-scope 4D scenes with synchronized multi-view videos further hinders progress in this direction. We propose a novel single-view video-to-4D framework that casts full-scope 4D generation as a multi-view video synthesis followed by optimization-based 4D reconstruction from the generated views. To instantiate this formulation end-to-end, we make three key contributions. First, we introduce Real-MV-4D, a large-scale dataset of synchronized multi-view videos captured in diverse real-world environments to provide the 4D supervision. Second, we train a multi-view video diffusion model driven by a novel fused time(T)-view(V) attention mechanism that directly embeds geometric reprojection priors and explicit camera conditioning into its view-time interactions. Unlike basic feature fusion, this direct binding strictly aligns the generation process with physical 3D priors to produce a dense, synchronized Ttimes V video grid. Third, rather than relying on non-interactive and inconsistent 2D video interpolations, we lift the synthesized multi-view videos into an explicit 4D representation (i.e. 4DGS), regularized by a Flow Matching Distillation loss that exploits the multi-view prior to improve novel-view rendering. Extensive experiments demonstrate that our method outperforms existing approaches in both visual fidelity and geometric consistency, enabling full-scope 4D scene generation from single-view videos.

Calibrating large-scale camera arrays, such as those in dome-based setups, is time-intensive and typically requires dedicated captures of known patterns. While extrinsics in such arrays are fixed due to the physical setup, intrinsics often vary across sessions due to factors like lens adjustments or temperature changes. In this paper, we propose a dense-feature-driven multi-frame calibration method that refines intrinsics directly from scene data, eliminating the necessity for additional calibration captures. Our approach enhances traditional Structure-from-Motion (SfM) pipelines by introducing an extrinsics regularization term to progressively align estimated extrinsics with ground-truth values, a dense feature reprojection term to reduce keypoint errors by minimizing reprojection loss in the feature space, and an intrinsics variance term for joint optimization across multiple frames. Experiments on the Multiface dataset show that our method achieves nearly the same precision as dedicated calibration processes, and significantly enhances intrinsics and 3D reconstruction accuracy. Fully compatible with existing SfM pipelines, our method provides an efficient and practical plug-and-play solution for large-scale camera setups. Our code is publicly available at: https://github.com/YJJfish/Multi-Cali-Anything

Video world models aim to simulate controllable visual environments, but long-horizon rollouts depend on what the model remembers after observations leave its native context window. Explicit memories retain frames or online 3D reconstructions, which can suffer from heuristic retrieval errors, redundant appearance storage, or reconstruction artifacts. Implicit memories compress history into a compact state, but existing designs are not explicitly constrained to encode cross-view scene geometry. We propose GIM-World, a geometry-aware implicit memory framework for video world models. A lightweight transformer encoder compresses variable-length history into fixed-size memory tokens, a camera-queryable geometry head distills 3D scene structure from a frozen foundation model into the memory during training, and an information-guided pruning rule keeps encoding cost bounded as history grows. The geometry teacher is discarded at inference, leaving a lightweight memory module. Experiments on MIND show that GIM-World better preserves long-horizon geometric and visual consistency than both explicit- and implicit-memory baselines.

Modern feed-forward 3D reconstruction methods like VGGT predict pixel-aligned pointmaps in camera-centric coordinate frames. However, this choice of coordinate frame is not always optimal. We propose instead to predict pointmaps in upright, gravity-aligned frames that exploit strong structural cues present in many real-world scenes. Unlike camera-centric frames, gravity-aligned frames share a common vertical axis across viewpoints, reducing the rotational degrees of freedom needed to relate pointmaps to one another. To this end, we introduce the Gravity Grounded Geometry Transformer (G3T), fine-tuned from existing models on gravity-aligned 3D data. G3T produces highly accurate gravity-aware predictions, including upright pointmaps and camera-to-gravity poses. We further introduce G3T-Long, a submap-based incremental 3D reconstruction pipeline that leverages the reduced rotational degrees of freedom afforded by upright frames to achieve significantly improved reconstruction accuracy.

Reconstructing dynamic 3D scenes from 2D images and generating diverse views over time is challenging due to scene complexity and temporal dynamics. Despite advancements in neural implicit models, limitations persist: (i) Inadequate Scene Structure: Existing methods struggle to reveal the spatial and temporal structure of dynamic scenes from directly learning the complex 6D plenoptic function. (ii) Scaling Deformation Modeling: Explicitly modeling scene element deformation becomes impractical for complex dynamics. To address these issues, we consider the spacetime as an entirety and propose to approximate the underlying spatio-temporal 4D volume of a dynamic scene by optimizing a collection of 4D primitives, with explicit geometry and appearance modeling. Learning to optimize the 4D primitives enables us to synthesize novel views at any desired time with our tailored rendering routine. Our model is conceptually simple, consisting of a 4D Gaussian parameterized by anisotropic ellipses that can rotate arbitrarily in space and time, as well as view-dependent and time-evolved appearance represented by the coefficient of 4D spherindrical harmonics. This approach offers simplicity, flexibility for variable-length video and end-to-end training, and efficient real-time rendering, making it suitable for capturing complex dynamic scene motions. Experiments across various benchmarks, including monocular and multi-view scenarios, demonstrate our 4DGS model's superior visual quality and efficiency.

The rising popularity of immersive visual experiences has increased interest in stereoscopic 3D video generation. Despite significant advances in video synthesis, creating 3D videos remains challenging due to the relative scarcity of 3D video data. We propose a simple approach for transforming a text-to-video generator into a video-to-stereo generator. Given an input video, our framework automatically produces the video frames from a shifted viewpoint, enabling a compelling 3D effect. Prior and concurrent approaches for this task typically operate in multiple phases, first estimating video disparity or depth, then warping the video accordingly to produce a second view, and finally inpainting the disoccluded regions. This approach inherently fails when the scene involves specular surfaces or transparent objects. In such cases, single-layer disparity estimation is insufficient, resulting in artifacts and incorrect pixel shifts during warping. Our work bypasses these restrictions by directly synthesizing the new viewpoint, avoiding any intermediate steps. This is achieved by leveraging a pre-trained video model's priors on geometry, object materials, optics, and semantics, without relying on external geometry models or manually disentangling geometry from the synthesis process. We demonstrate the advantages of our approach in complex, real-world scenarios featuring diverse object materials and compositions. See videos on https://video-eye2eye.github.io

Video diffusion models lack explicit geometric supervision during training, leading to inconsistency artifacts such as object deformation, spatial drift, and depth violations in generated videos. To address this limitation, we propose a geometry-based reward model that leverages pretrained geometric foundation models to evaluate multi-view consistency through cross-frame reprojection error. Unlike previous geometric metrics that measure inconsistency in pixel space, where pixel intensity may introduce additional noise, our approach conducts error computation in a pointwise fashion, yielding a more physically grounded and robust error metric. Furthermore, we introduce a geometry-aware sampling strategy that filters out low-texture and non-semantic regions, focusing evaluation on geometrically meaningful areas with reliable correspondences to improve robustness. We apply this reward model to align video diffusion models through two complementary pathways: post-training of a bidirectional model via SFT or Reinforcement Learning and inference-time optimization of a Causal Video Model (e.g., Streaming video generator) via test-time scaling with our reward as a path verifier. Experimental results validate the effectiveness of our design, demonstrating that our geometry-based reward provides superior robustness compared to other variants. By enabling efficient inference-time scaling, our method offers a practical solution for enhancing open-source video models without requiring extensive computational resources for retraining.

We present 4RC, a unified feed-forward framework for 4D reconstruction from monocular videos. Unlike existing approaches that typically decouple motion from geometry or produce limited 4D attributes such as sparse trajectories or two-view scene flow, 4RC learns a holistic 4D representation that jointly captures dense scene geometry and motion dynamics. At its core, 4RC introduces a novel encode-once, query-anywhere and anytime paradigm: a transformer backbone encodes the entire video into a compact spatio-temporal latent space, from which a conditional decoder can efficiently query 3D geometry and motion for any query frame at any target timestamp. To facilitate learning, we represent per-view 4D attributes in a minimally factorized form by decomposing them into base geometry and time-dependent relative motion. Extensive experiments demonstrate that 4RC outperforms prior and concurrent methods across a wide range of 4D reconstruction tasks.

In this paper, we aim to model 3D scene dynamics from multi-view videos. Unlike the majority of existing works which usually focus on the common task of novel view synthesis within the training time period, we propose to simultaneously learn the geometry, appearance, and physical velocity of 3D scenes only from video frames, such that multiple desirable applications can be supported, including future frame extrapolation, unsupervised 3D semantic scene decomposition, and dynamic motion transfer. Our method consists of three major components, 1) the keyframe dynamic radiance field, 2) the interframe velocity field, and 3) a joint keyframe and interframe optimization module which is the core of our framework to effectively train both networks. To validate our method, we further introduce two dynamic 3D datasets: 1) Dynamic Object dataset, and 2) Dynamic Indoor Scene dataset. We conduct extensive experiments on multiple datasets, demonstrating the superior performance of our method over all baselines, particularly in the critical tasks of future frame extrapolation and unsupervised 3D semantic scene decomposition.

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 models to self-evolve at test time without any 3D ground truth. Our key insight is that, when the model receives more views, it produces more reliable and view-consistent reconstructions. Leveraging this property, given a testing sequence, we mask a subset of frames to construct a self-supervised task. Free Geometry enforces cross-view feature consistency between representations from full and partial observations, while maintaining the pairwise relations implied by the held-out frames. This self-supervision allows for fast recalibration via lightweight LoRA updates, taking less than 2 minutes per dataset on a single GPU. Our approach consistently improves state-of-the-art foundation models, including Depth Anything 3 and VGGT, across 4 benchmark datasets, yielding an average improvement of 3.73% in camera pose accuracy and 2.88% in point map prediction. Code is available at https://github.com/hiteacherIamhumble/Free-Geometry .

Significant progress has been made in spatial intelligence, spanning both spatial reconstruction and world exploration. However, the scalability and real-world fidelity of current models remain severely constrained by the scarcity of large-scale, high-quality training data. While several datasets provide camera pose information, they are typically limited in scale, diversity, and annotation richness, particularly for real-world dynamic scenes with ground-truth camera motion. To this end, we collect SpatialVID, a dataset consists of a large corpus of in-the-wild videos with diverse scenes, camera movements and dense 3D annotations such as per-frame camera poses, depth, and motion instructions. Specifically, we collect more than 21,000 hours of raw video, and process them into 2.7 million clips through a hierarchical filtering pipeline, totaling 7,089 hours of dynamic content. A subsequent annotation pipeline enriches these clips with detailed spatial and semantic information, including camera poses, depth maps, dynamic masks, structured captions, and serialized motion instructions. Analysis of SpatialVID's data statistics reveals a richness and diversity that directly foster improved model generalization and performance, establishing it as a key asset for the video and 3D vision research community.

Videos inherently represent 2D projections of a dynamic 3D world. However, our analysis suggests that video diffusion models trained solely on raw video data often fail to capture meaningful geometric-aware structure in their learned representations. To bridge this gap between video diffusion models and the underlying 3D nature of the physical world, we propose Geometry Forcing, a simple yet effective method that encourages video diffusion models to internalize latent 3D representations. Our key insight is to guide the model's intermediate representations toward geometry-aware structure by aligning them with features from a pretrained geometric foundation model. To this end, we introduce two complementary alignment objectives: Angular Alignment, which enforces directional consistency via cosine similarity, and Scale Alignment, which preserves scale-related information by regressing unnormalized geometric features from normalized diffusion representation. We evaluate Geometry Forcing on both camera view-conditioned and action-conditioned video generation tasks. Experimental results demonstrate that our method substantially improves visual quality and 3D consistency over the baseline methods. Project page: https://GeometryForcing.github.io.

Understanding the dynamic physical world, characterized by its evolving 3D structure, real-world motion, and semantic content with textual descriptions, is crucial for human-agent interaction and enables embodied agents to perceive and act within real environments with human-like capabilities. However, existing datasets are often derived from limited simulators or utilize traditional Structurefrom-Motion for up-to-scale annotation and offer limited descriptive captioning, which restricts the capacity of foundation models to accurately interpret real-world dynamics from monocular videos, commonly sourced from the internet. To bridge these gaps, we introduce DynamicVerse, a physical-scale, multimodal 4D world modeling framework for dynamic real-world video. We employ large vision, geometric, and multimodal models to interpret metric-scale static geometry, real-world dynamic motion, instance-level masks, and holistic descriptive captions. By integrating window-based Bundle Adjustment with global optimization, our method converts long real-world video sequences into a comprehensive 4D multimodal format. DynamicVerse delivers a large-scale dataset consisting of 100K+ videos with 800K+ annotated masks and 10M+ frames from internet videos. Experimental evaluations on three benchmark tasks, namely video depth estimation, camera pose estimation, and camera intrinsics estimation, demonstrate that our 4D modeling achieves superior performance in capturing physical-scale measurements with greater global accuracy than existing methods.

We present MoVieS, a novel feed-forward model that synthesizes 4D dynamic novel views from monocular videos in one second. MoVieS represents dynamic 3D scenes using pixel-aligned grids of Gaussian primitives, explicitly supervising their time-varying motion. This allows, for the first time, the unified modeling of appearance, geometry and motion, and enables view synthesis, reconstruction and 3D point tracking within a single learning-based framework. By bridging novel view synthesis with dynamic geometry reconstruction, MoVieS enables large-scale training on diverse datasets with minimal dependence on task-specific supervision. As a result, it also naturally supports a wide range of zero-shot applications, such as scene flow estimation and moving object segmentation. Extensive experiments validate the effectiveness and efficiency of MoVieS across multiple tasks, achieving competitive performance while offering several orders of magnitude speedups.

Estimating accurate and temporally consistent 3D human geometry from videos is a challenging problem in computer vision. Existing methods, primarily optimized for single images, often suffer from temporal inconsistencies and fail to capture fine-grained dynamic details. To address these limitations, we present GeoMan, a novel architecture designed to produce accurate and temporally consistent depth and normal estimations from monocular human videos. GeoMan addresses two key challenges: the scarcity of high-quality 4D training data and the need for metric depth estimation to accurately model human size. To overcome the first challenge, GeoMan employs an image-based model to estimate depth and normals for the first frame of a video, which then conditions a video diffusion model, reframing video geometry estimation task as an image-to-video generation problem. This design offloads the heavy lifting of geometric estimation to the image model and simplifies the video model's role to focus on intricate details while using priors learned from large-scale video datasets. Consequently, GeoMan improves temporal consistency and generalizability while requiring minimal 4D training data. To address the challenge of accurate human size estimation, we introduce a root-relative depth representation that retains critical human-scale details and is easier to be estimated from monocular inputs, overcoming the limitations of traditional affine-invariant and metric depth representations. GeoMan achieves state-of-the-art performance in both qualitative and quantitative evaluations, demonstrating its effectiveness in overcoming longstanding challenges in 3D human geometry estimation from videos.

World models that forecast scene evolution by generating future video frames devote the bulk of their capacity to photometric details, yet the resulting predictions often remain geometrically inconsistent. We present VGGT-World, a geometry world model that side-steps video generation entirely and instead forecasts the temporal evolution of frozen geometry-foundation-model (GFM) features. Concretely, we repurpose the latent tokens of a frozen VGGT as the world state and train a lightweight temporal flow transformer to autoregressively predict their future trajectory. Two technical challenges arise in this high-dimensional (d=1024) feature space: (i) standard velocity-prediction flow matching collapses, and (ii) autoregressive rollout suffers from compounding exposure bias. We address the first with a clean-target (z-prediction) parameterization that yields a substantially higher signal-to-noise ratio, and the second with a two-stage latent flow-forcing curriculum that progressively conditions the model on its own partially denoised rollouts. Experiments on KITTI, Cityscapes, and TartanAir demonstrate that VGGT-World significantly outperforms the strongest baselines in depth forecasting while running 3.6-5 times faster with only 0.43B trainable parameters, establishing frozen GFM features as an effective and efficient predictive state for 3D world modeling.

Camera redirection aims to replay a dynamic scene from a single monocular video under a user-specified camera trajectory. However, large-angle redirection is inherently ill-posed: a monocular video captures only a narrow spatio-temporal view of a dynamic 3D scene, providing highly partial observations of the underlying 4D world. The key challenge is therefore to recover a complete and coherent representation from this limited input, with consistent geometry and motion. While recent diffusion-based methods achieve impressive results, they often break down under large-angle viewpoint changes far from the original trajectory, where missing visual grounding leads to severe geometric ambiguity and temporal inconsistency. To address this, we present FreeOrbit4D, an effective training-free framework that tackles this geometric ambiguity by recovering a geometry-complete 4D proxy as structural grounding for video generation. We obtain this proxy by decoupling foreground and background reconstructions: we unproject the monocular video into a static background and geometry-incomplete foreground point clouds in a unified global space, then leverage an object-centric multi-view diffusion model to synthesize multi-view images and reconstruct geometry-complete foreground point clouds in canonical object space. By aligning the canonical foreground point cloud to the global scene space via dense pixel-synchronized 3D--3D correspondences and projecting the geometry-complete 4D proxy onto target camera viewpoints, we provide geometric scaffolds that guide a conditional video diffusion model. Extensive experiments show that FreeOrbit4D produces more faithful redirected videos under challenging large-angle trajectories, and our geometry-complete 4D proxy further opens a potential avenue for practical applications such as edit propagation and 4D data generation. Project page and code will be released soon.

Real-time free-viewpoint rendering requires balancing multi-camera redundancy with the latency constraints of interactive applications. We address this challenge by combining lightweight geometry with learning and propose 3DTV, a feedforward network for real-time sparse-view interpolation. A Delaunay-based triplet selection ensures angular coverage for each target view. Building on this, we introduce a pose-aware depth module that estimates a coarse-to-fine depth pyramid, enabling efficient feature reprojection and occlusion-aware blending. Unlike methods that require scene-specific optimization, 3DTV runs feedforward without retraining, making it practical for AR/VR, telepresence, and interactive applications. Our experiments on challenging multi-view video datasets demonstrate that 3DTV consistently achieves a strong balance of quality and efficiency, outperforming recent real-time novel-view baselines. Crucially, 3DTV avoids explicit proxies, enabling robust rendering across diverse scenes. This makes it a practical solution for low-latency multi-view streaming and interactive rendering. Project Page: https://stefanmschulz.github.io/3DTV_webpage/

Dynamic 3D reconstruction and point tracking in videos are typically treated as separate tasks, despite their deep connection. We propose St4RTrack, a feed-forward framework that simultaneously reconstructs and tracks dynamic video content in a world coordinate frame from RGB inputs. This is achieved by predicting two appropriately defined pointmaps for a pair of frames captured at different moments. Specifically, we predict both pointmaps at the same moment, in the same world, capturing both static and dynamic scene geometry while maintaining 3D correspondences. Chaining these predictions through the video sequence with respect to a reference frame naturally computes long-range correspondences, effectively combining 3D reconstruction with 3D tracking. Unlike prior methods that rely heavily on 4D ground truth supervision, we employ a novel adaptation scheme based on a reprojection loss. We establish a new extensive benchmark for world-frame reconstruction and tracking, demonstrating the effectiveness and efficiency of our unified, data-driven framework. Our code, model, and benchmark will be released.

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 critical gap, we propose AirZoo, a unified large-scale dataset and benchmark for grounding aerial geometric 3D vision. AirZoo possesses three appealing properties: 1) Scalable Generation Pipeline: Leveraging freely available, world-scale photogrammetric 3D meshes, it renders vast outdoor environments with customizable UAV flight trajectories and configurable weather/illumination. 2) Comprehensive Scene Diversity: It provides the most extensive coverage of region types to date (spanning 378 regions across 22 countries), systematically encompassing both highly structured urban landscapes and complex unstructured natural environments. 3) Rich Geometric Annotations: Each frame provides synchronized, pixel-level metric depth and precise 6-DoF geo-referenced poses, essential for geometry-aware learning. Through three rigorous evaluation tracks -- aerial image retrieval, cross-view matching, and multi-view 3D reconstruction -- we demonstrate that AirZoo serves as a powerful pre-training engine. Extensive experiments on both public and newly collected real-world benchmarks reveal that fine-tuning on AirZoo yields substantial performance gains for SoTA models (e.g., MegaLoc, RoMa, VGGT, and Depth Anything 3), establishing a new performance upper bound for aerial spatial intelligence.

Traditional image stitching approaches tend to leverage increasingly complex geometric features (point, line, edge, etc.) for better performance. However, these hand-crafted features are only suitable for specific natural scenes with adequate geometric structures. In contrast, deep stitching schemes overcome the adverse conditions by adaptively learning robust semantic features, but they cannot handle large-parallax cases due to homography-based registration. To solve these issues, we propose UDIS++, a parallax-tolerant unsupervised deep image stitching technique. First, we propose a robust and flexible warp to model the image registration from global homography to local thin-plate spline motion. It provides accurate alignment for overlapping regions and shape preservation for non-overlapping regions by joint optimization concerning alignment and distortion. Subsequently, to improve the generalization capability, we design a simple but effective iterative strategy to enhance the warp adaption in cross-dataset and cross-resolution applications. Finally, to further eliminate the parallax artifacts, we propose to composite the stitched image seamlessly by unsupervised learning for seam-driven composition masks. Compared with existing methods, our solution is parallax-tolerant and free from laborious designs of complicated geometric features for specific scenes. Extensive experiments show our superiority over the SoTA methods, both quantitatively and qualitatively. The code is available at https://github.com/nie-lang/UDIS2.

Accurate 3D geometric perception is an important prerequisite for a wide range of spatial AI systems. While state-of-the-art methods depend on large-scale training data, acquiring consistent and precise 3D annotations from in-the-wild videos remains a key challenge. In this work, we introduce ViPE, a handy and versatile video processing engine designed to bridge this gap. ViPE efficiently estimates camera intrinsics, camera motion, and dense, near-metric depth maps from unconstrained raw videos. It is robust to diverse scenarios, including dynamic selfie videos, cinematic shots, or dashcams, and supports various camera models such as pinhole, wide-angle, and 360{\deg} panoramas. We have benchmarked ViPE on multiple benchmarks. Notably, it outperforms existing uncalibrated pose estimation baselines by 18%/50% on TUM/KITTI sequences, and runs at 3-5FPS on a single GPU for standard input resolutions. We use ViPE to annotate a large-scale collection of videos. This collection includes around 100K real-world internet videos, 1M high-quality AI-generated videos, and 2K panoramic videos, totaling approximately 96M frames -- all annotated with accurate camera poses and dense depth maps. We open-source ViPE and the annotated dataset with the hope of accelerating the development of spatial AI systems.

Novel View Synthesis (NVS) has traditionally relied on models with explicit 3D inductive biases combined with known camera parameters from Structure-from-Motion (SfM) beforehand. Recent vision foundation models like VGGT take an orthogonal approach -- 3D knowledge is gained implicitly through training data and loss objectives, enabling feed-forward prediction of both camera parameters and 3D representations directly from a set of uncalibrated images. While flexible, VGGT features lack explicit multi-view geometric consistency, and we find that improving such 3D feature consistency benefits both NVS and pose estimation tasks. We introduce Selfi, a self-improving 3D reconstruction pipeline via feature alignment, transforming a VGGT backbone into a high-fidelity 3D reconstruction engine by leveraging its own outputs as pseudo-ground-truth. Specifically, we train a lightweight feature adapter using a reprojection-based consistency loss, which distills VGGT outputs into a new geometrically-aligned feature space that captures spatial proximity in 3D. This enables state-of-the-art performance in both NVS and camera pose estimation, demonstrating that feature alignment is a highly beneficial step for downstream 3D reasoning.

Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models often struggle in real-world scenarios involving complex dynamic elements, such as moving humans or deformable objects like umbrellas. To address this limitation, we introduce PAGE-4D, a feedforward model that extends VGGT to dynamic scenes, enabling camera pose estimation, depth prediction, and point cloud reconstruction -- all without post-processing. A central challenge in multi-task 4D reconstruction is the inherent conflict between tasks: accurate camera pose estimation requires suppressing dynamic regions, while geometry reconstruction requires modeling them. To resolve this tension, we propose a dynamics-aware aggregator that disentangles static and dynamic information by predicting a dynamics-aware mask -- suppressing motion cues for pose estimation while amplifying them for geometry reconstruction. Extensive experiments show that PAGE-4D consistently outperforms the original VGGT in dynamic scenarios, achieving superior results in camera pose estimation, monocular and video depth estimation, and dense point map reconstruction.

Reconstructing dense geometry for dynamic scenes from a monocular video is a critical yet challenging task. Recent memory-based methods enable efficient online reconstruction, but they fundamentally suffer from a Memory Demand Dilemma: The memory representation faces an inherent conflict between the long-term stability required for static structures and the rapid, high-fidelity detail retention needed for dynamic motion. This conflict forces existing methods into a compromise, leading to either geometric drift in static structures or blurred, inaccurate reconstructions of dynamic objects. To address this dilemma, we propose Mem4D, a novel framework that decouples the modeling of static geometry and dynamic motion. Guided by this insight, we design a dual-memory architecture: 1) The Transient Dynamics Memory (TDM) focuses on capturing high-frequency motion details from recent frames, enabling accurate and fine-grained modeling of dynamic content; 2) The Persistent Structure Memory (PSM) compresses and preserves long-term spatial information, ensuring global consistency and drift-free reconstruction for static elements. By alternating queries to these specialized memories, Mem4D simultaneously maintains static geometry with global consistency and reconstructs dynamic elements with high fidelity. Experiments on challenging benchmarks demonstrate that our method achieves state-of-the-art or competitive performance while maintaining high efficiency. Codes will be publicly available.

Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point clouds or reconstructed Bird's-Eye View (BEV) maps. In our research, we advance this field by enhancing the capability of MLLMs to understand and reason in 3D spaces directly from video data, without the need for additional 3D input. We propose a novel and efficient method, the Video-3D Geometry Large Language Model (VG LLM). Our approach employs a 3D visual geometry encoder that extracts 3D prior information from video sequences. This information is integrated with visual tokens and fed into the MLLM. Extensive experiments have shown that our method has achieved substantial improvements in various tasks related to 3D scene understanding and spatial reasoning, all directly learned from video sources. Impressively, our 4B model, which does not rely on explicit 3D data inputs, achieves competitive results compared to existing state-of-the-art methods, and even surpasses the Gemini-1.5-Pro in the VSI-Bench evaluations.

Panoptic segmentation of 3D scenes, involving the segmentation and classification of object instances in a dense 3D reconstruction of a scene, is a challenging problem, especially when relying solely on unposed 2D images. Existing approaches typically leverage off-the-shelf models to extract per-frame 2D panoptic segmentations, before optimizing an implicit geometric representation (often based on NeRF) to integrate and fuse the 2D predictions. We argue that relying on 2D panoptic segmentation for a problem inherently 3D and multi-view is likely suboptimal as it fails to leverage the full potential of spatial relationships across views. In addition to requiring camera parameters, these approaches also necessitate computationally expensive test-time optimization for each scene. Instead, in this work, we propose a unified and integrated approach PanSt3R, which eliminates the need for test-time optimization by jointly predicting 3D geometry and multi-view panoptic segmentation in a single forward pass. Our approach builds upon recent advances in 3D reconstruction, specifically upon MUSt3R, a scalable multi-view version of DUSt3R, and enhances it with semantic awareness and multi-view panoptic segmentation capabilities. We additionally revisit the standard post-processing mask merging procedure and introduce a more principled approach for multi-view segmentation. We also introduce a simple method for generating novel-view predictions based on the predictions of PanSt3R and vanilla 3DGS. Overall, the proposed PanSt3R is conceptually simple, yet fast and scalable, and achieves state-of-the-art performance on several benchmarks, while being orders of magnitude faster than existing methods.

Dynamic novel view synthesis aims to capture the temporal evolution of visual content within videos. Existing methods struggle to distinguishing between motion and structure, particularly in scenarios where camera poses are either unknown or constrained compared to object motion. Furthermore, with information solely from reference images, it is extremely challenging to hallucinate unseen regions that are occluded or partially observed in the given videos. To address these issues, we first finetune a pretrained RGB-D diffusion model on the video frames using a customization technique. Subsequently, we distill the knowledge from the finetuned model to a 4D representations encompassing both dynamic and static Neural Radiance Fields (NeRF) components. The proposed pipeline achieves geometric consistency while preserving the scene identity. We perform thorough experiments to evaluate the efficacy of the proposed method qualitatively and quantitatively. Our results demonstrate the robustness and utility of our approach in challenging cases, further advancing dynamic novel view synthesis.

Recent feed-forward models have significantly advanced geometry perception for inferring dense 3D structure from sensor observations. However, its essential capabilities remain fragmented across multiple incompatible paradigms, including online perception, offline reconstruction, multi-modal integration, long-horizon scalability, and metric-scale estimation. We present UniT, a unified model built upon a novel Group Autoregressive Transformer, which reformulates these seemingly disparate capabilities within a single framework. The key idea is to treat groups of sensor observations as the basic autoregressive units and predict the corresponding point maps in an anchor-free and scale-adaptive manner. More specifically, diverse view configurations in both online and offline settings are naturally unified within a single group autoregression process. By varying the group size, online mode operates over multiple autoregressive steps with single-frame groups, whereas offline mode aggregates a multi-frame group in a single forward pass. Meanwhile, a queue-style KV caching mechanism ensures bounded autoregressive memory over long horizons. This is enabled by reducing long-range dependencies on early frames through anchor-free relational modeling, thereby allowing outdated memory to be discarded on the fly. To improve metric-scale generalization across scenes, a scale-adaptive geometry loss is further introduced within this framework. It couples relative geometric constraints with a partial absolute scale term, implicitly regularizing global scale and inducing a progressive transition from scale-invariant geometry to metric-scale solutions. Together with a dedicated modal attention module for integrating auxiliary modalities, UniT achieves state-of-the-art performance in unified geometry perception, as validated on ten benchmarks spanning seven representative tasks.

We present a novel video generation framework that integrates 3-dimensional geometry and dynamic awareness. To achieve this, we augment 2D videos with 3D point trajectories and align them in pixel space. The resulting 3D-aware video dataset, PointVid, is then used to fine-tune a latent diffusion model, enabling it to track 2D objects with 3D Cartesian coordinates. Building on this, we regularize the shape and motion of objects in the video to eliminate undesired artifacts, \eg, nonphysical deformation. Consequently, we enhance the quality of generated RGB videos and alleviate common issues like object morphing, which are prevalent in current video models due to a lack of shape awareness. With our 3D augmentation and regularization, our model is capable of handling contact-rich scenarios such as task-oriented videos. These videos involve complex interactions of solids, where 3D information is essential for perceiving deformation and contact. Furthermore, our model improves the overall quality of video generation by promoting the 3D consistency of moving objects and reducing abrupt changes in shape and motion.

By converting low-frame-rate, low-resolution videos into high-frame-rate, high-resolution ones, space-time video super-resolution techniques can enhance visual experiences and facilitate more efficient information dissemination. We propose a convolutional neural network (CNN) for space-time video super-resolution, namely GIRNet. To generate highly accurate features and thus improve performance, the proposed network integrates a feature-level temporal interpolation module with deformable convolutions and a global spatial-temporal information-based residual convolutional long short-term memory (convLSTM) module. In the feature-level temporal interpolation module, we leverage deformable convolution, which adapts to deformations and scale variations of objects across different scene locations. This presents a more efficient solution than conventional convolution for extracting features from moving objects. Our network effectively uses forward and backward feature information to determine inter-frame offsets, leading to the direct generation of interpolated frame features. In the global spatial-temporal information-based residual convLSTM module, the first convLSTM is used to derive global spatial-temporal information from the input features, and the second convLSTM uses the previously computed global spatial-temporal information feature as its initial cell state. This second convLSTM adopts residual connections to preserve spatial information, thereby enhancing the output features. Experiments on the Vimeo90K dataset show that the proposed method outperforms state-of-the-art techniques in peak signal-to-noise-ratio (by 1.45 dB, 1.14 dB, and 0.02 dB over STARnet, TMNet, and 3DAttGAN, respectively), structural similarity index(by 0.027, 0.023, and 0.006 over STARnet, TMNet, and 3DAttGAN, respectively), and visually.

This paper presents a self-supervised framework for training interest point detectors and descriptors suitable for a large number of multiple-view geometry problems in computer vision. As opposed to patch-based neural networks, our fully-convolutional model operates on full-sized images and jointly computes pixel-level interest point locations and associated descriptors in one forward pass. We introduce Homographic Adaptation, a multi-scale, multi-homography approach for boosting interest point detection repeatability and performing cross-domain adaptation (e.g., synthetic-to-real). Our model, when trained on the MS-COCO generic image dataset using Homographic Adaptation, is able to repeatedly detect a much richer set of interest points than the initial pre-adapted deep model and any other traditional corner detector. The final system gives rise to state-of-the-art homography estimation results on HPatches when compared to LIFT, SIFT and ORB.

Recent video generators achieve striking photorealism, yet remain fundamentally inconsistent in 3D. We present WorldReel, a 4D video generator that is natively spatio-temporally consistent. WorldReel jointly produces RGB frames together with 4D scene representations, including pointmaps, camera trajectory, and dense flow mapping, enabling coherent geometry and appearance modeling over time. Our explicit 4D representation enforces a single underlying scene that persists across viewpoints and dynamic content, yielding videos that remain consistent even under large non-rigid motion and significant camera movement. We train WorldReel by carefully combining synthetic and real data: synthetic data providing precise 4D supervision (geometry, motion, and camera), while real videos contribute visual diversity and realism. This blend allows WorldReel to generalize to in-the-wild footage while preserving strong geometric fidelity. Extensive experiments demonstrate that WorldReel sets a new state-of-the-art for consistent video generation with dynamic scenes and moving cameras, improving metrics of geometric consistency, motion coherence, and reducing view-time artifacts over competing methods. We believe that WorldReel brings video generation closer to 4D-consistent world modeling, where agents can render, interact, and reason about scenes through a single and stable spatiotemporal representation.

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 regressing 3D geometry from RGB images without explicit 3D priors or geometric constraints. However, these methods often struggle to maintain reconstruction accuracy and consistency over long sequences due to limited memory capacity and the inability to effectively capture global contextual cues. In contrast, humans can naturally exploit the global understanding of the scene to inform local perception. Motivated by this, we propose a novel neural global context representation that efficiently compresses and retains long-range scene information, enabling the model to leverage extensive contextual cues for enhanced reconstruction accuracy and consistency. The context representation is realized through a set of lightweight neural sub-networks that are rapidly adapted during test time via self-supervised objectives, which substantially increases memory capacity without incurring significant computational overhead. The experiments on multiple large-scale benchmarks, including the KITTI Odometry~Geiger2012CVPR and Oxford Spires~tao2025spires datasets, demonstrate the effectiveness of our approach in handling ultra-large scenes, achieving leading pose accuracy and state-of-the-art 3D reconstruction accuracy while maintaining efficiency. Code is available at https://zju3dv.github.io/scal3r.

Stereo image and video generation, stereo geometry estimation, and condition-controlled view synthesis require paired data in which the variables that determine binocular geometry -- camera baseline, intrinsics, scene depth, and camera motion -- are known and controllable. Existing stereo resources provide subsets of these variables, but resources commonly used for stereo generation evaluation do not, to our knowledge, provide scene-paired, calibrated multi-baseline right-view ground truth with jointly recorded intrinsics, dense metric depth, and per-frame poses in a single controlled source. We introduce StereoGenBench, a synthetic Unreal Engine benchmark designed to make baseline-regime sensitivity and target-camera consistency measurable under matched scene content. Each scene is rendered with a rigid six-camera lateral array, yielding up to 15 calibrated view pairs; adjacent baselines are sampled from inter-pupillary to wide-baseline regimes; focal length is sampled independently; and every view is released with RGB, metric depth, intrinsics, per-pair baselines, and per-frame poses. The splits include two evaluation families for narrow and wide baseline regimes and a train-only family for broader all-pairs coverage. We release the dataset, evaluation code, reference results, Croissant metadata, and generation code/configuration for extension with compatible assets. The dataset is available at https://huggingface.co/datasets/stereo-dataset/stereo-dataset

Large diffusion models demonstrate remarkable zero-shot capabilities in novel view synthesis from a single image. However, these models often face challenges in maintaining consistency across novel and reference views. A crucial factor leading to this issue is the limited utilization of contextual information from reference views. Specifically, when there is an overlap in the viewing frustum between two views, it is essential to ensure that the corresponding regions maintain consistency in both geometry and appearance. This observation leads to a simple yet effective approach, where we propose to use epipolar geometry to locate and retrieve overlapping information from the input view. This information is then incorporated into the generation of target views, eliminating the need for training or fine-tuning, as the process requires no learnable parameters. Furthermore, to enhance the overall consistency of generated views, we extend the utilization of epipolar attention to a multi-view setting, allowing retrieval of overlapping information from the input view and other target views. Qualitative and quantitative experimental results demonstrate the effectiveness of our method in significantly improving the consistency of synthesized views without the need for any fine-tuning. Moreover, This enhancement also boosts the performance of downstream applications such as 3D reconstruction. The code is available at https://github.com/botaoye/ConsisSyn.

Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, particularly small models, struggle with processing logical reasoning, question-answering, and handling open scenario categories. On the other hand, generative multimodal large language models (MLLMs) excel in general capacity but underperform in 3D tasks, due to weak spatial and local object perception, poor text-based geometric numerical output, and inability to handle camera focal variations. To address these challenges, we propose the following solutions: Spatial-Enhanced Local Feature Mining for better spatial feature extraction, 3D Query Token-Derived Info Decoding for precise geometric regression, and Geometry Projection-Based 3D Reasoning for handling camera focal length variations. We employ parameter-efficient fine-tuning for a pre-trained MLLM and develop LLMI3D, a powerful 3D perception MLLM. Additionally, we have constructed the IG3D dataset, which provides fine-grained descriptions and question-answer annotations. Extensive experiments demonstrate that our LLMI3D achieves state-of-the-art performance, significantly outperforming existing methods.

We present a frame interpolation algorithm that synthesizes multiple intermediate frames from two input images with large in-between motion. Recent methods use multiple networks to estimate optical flow or depth and a separate network dedicated to frame synthesis. This is often complex and requires scarce optical flow or depth ground-truth. In this work, we present a single unified network, distinguished by a multi-scale feature extractor that shares weights at all scales, and is trainable from frames alone. To synthesize crisp and pleasing frames, we propose to optimize our network with the Gram matrix loss that measures the correlation difference between feature maps. Our approach outperforms state-of-the-art methods on the Xiph large motion benchmark. We also achieve higher scores on Vimeo-90K, Middlebury and UCF101, when comparing to methods that use perceptual losses. We study the effect of weight sharing and of training with datasets of increasing motion range. Finally, we demonstrate our model's effectiveness in synthesizing high quality and temporally coherent videos on a challenging near-duplicate photos dataset. Codes and pre-trained models are available at https://film-net.github.io.

Recent feed-forward networks have achieved remarkable progress in sparse-view 3D reconstruction by predicting dense point maps directly from RGB images. However, they often suffer from geometric inconsistencies and limited fine-grained accuracy due to the absence of explicit multi-view constraints. We introduce the Geometry-Grounded Point Transformer (GGPT), a framework that augments feed-forward reconstruction with reliable sparse geometric guidance. We first propose an improved Structure-from-Motion pipeline based on dense feature matching and lightweight geometric optimisation to efficiently estimate accurate camera poses and partial 3D point clouds from sparse input views. Building on this foundation, we propose a geometry-guided 3D point transformer that refines dense point maps under explicit partial-geometry supervision using an optimised guidance encoding. Extensive experiments demonstrate that our method provides a principled mechanism for integrating geometric priors with dense feed-forward predictions, producing reconstructions that are both geometrically consistent and spatially complete, recovering fine structures and filling gaps in textureless areas. Trained solely on ScanNet++ with VGGT predictions, GGPT generalises across architectures and datasets, substantially outperforming state-of-the-art feed-forward 3D reconstruction models in both in-domain and out-of-domain settings.

Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into subtasks, like depth and flow, leading to complex systems prone to errors. In this paper, we present Motion DUSt3R (MonST3R), a novel geometry-first approach that directly estimates per-timestep geometry from dynamic scenes. Our key insight is that by simply estimating a pointmap for each timestep, we can effectively adapt DUST3R's representation, previously only used for static scenes, to dynamic scenes. However, this approach presents a significant challenge: the scarcity of suitable training data, namely dynamic, posed videos with depth labels. Despite this, we show that by posing the problem as a fine-tuning task, identifying several suitable datasets, and strategically training the model on this limited data, we can surprisingly enable the model to handle dynamics, even without an explicit motion representation. Based on this, we introduce new optimizations for several downstream video-specific tasks and demonstrate strong performance on video depth and camera pose estimation, outperforming prior work in terms of robustness and efficiency. Moreover, MonST3R shows promising results for primarily feed-forward 4D reconstruction.

Generating high-quality 360{\deg} panoramic videos remains a significant challenge due to the fundamental differences between panoramic and traditional perspective-view projections. While perspective videos rely on a single viewpoint with a limited field of view, panoramic content requires rendering the full surrounding environment, making it difficult for standard video generation models to adapt. Existing solutions often introduce complex architectures or large-scale training, leading to inefficiency and suboptimal results. Motivated by the success of Low-Rank Adaptation (LoRA) in style transfer tasks, we propose treating panoramic video generation as an adaptation problem from perspective views. Through theoretical analysis, we demonstrate that LoRA can effectively model the transformation between these projections when its rank exceeds the degrees of freedom in the task. Our approach efficiently fine-tunes a pretrained video diffusion model using only approximately 1,000 videos while achieving high-quality panoramic generation. Experimental results demonstrate that our method maintains proper projection geometry and surpasses previous state-of-the-art approaches in visual quality, left-right consistency, and motion diversity.

Rotoscoping, the detailed delineation of scene elements through a video shot, is a painstaking task of tremendous importance in professional post-production pipelines. While pixel-wise segmentation techniques can help for this task, professional rotoscoping tools rely on parametric curves that offer the artists a much better interactive control on the definition, editing and manipulation of the segments of interest. Sticking to this prevalent rotoscoping paradigm, we propose a novel framework to capture and track the visual aspect of an arbitrary object in a scene, given a first closed outline of this object. This model combines a collection of local foreground/background appearance models spread along the outline, a global appearance model of the enclosed object and a set of distinctive foreground landmarks. The structure of this rich appearance model allows simple initialization, efficient iterative optimization with exact minimization at each step, and on-line adaptation in videos. We demonstrate qualitatively and quantitatively the merit of this framework through comparisons with tools based on either dynamic segmentation with a closed curve or pixel-wise binary labelling.

This paper aims to tackle the challenge of dynamic view synthesis from multi-view videos. The key observation is that while previous grid-based methods offer consistent rendering, they fall short in capturing appearance details of a complex dynamic scene, a domain where multi-view image-based rendering methods demonstrate the opposite properties. To combine the best of two worlds, we introduce Im4D, a hybrid scene representation that consists of a grid-based geometry representation and a multi-view image-based appearance representation. Specifically, the dynamic geometry is encoded as a 4D density function composed of spatiotemporal feature planes and a small MLP network, which globally models the scene structure and facilitates the rendering consistency. We represent the scene appearance by the original multi-view videos and a network that learns to predict the color of a 3D point from image features, instead of memorizing detailed appearance totally with networks, thereby naturally making the learning of networks easier. Our method is evaluated on five dynamic view synthesis datasets including DyNeRF, ZJU-MoCap, NHR, DNA-Rendering and ENeRF-Outdoor datasets. The results show that Im4D exhibits state-of-the-art performance in rendering quality and can be trained efficiently, while realizing real-time rendering with a speed of 79.8 FPS for 512x512 images, on a single RTX 3090 GPU.

Mirror reflections are common in everyday environments and can provide stereo information within a single capture, as the real and reflected virtual views are visible simultaneously. We exploit this property by treating the reflection as an auxiliary view and designing a transformation that constructs a physically valid virtual camera, allowing direct pixel-domain generation of the virtual view while adhering to the real-world imaging process. This enables a multi-view stereo setup from a single image, simplifying the imaging process, making it compatible with powerful feed-forward reconstruction models for generalizable and robust 3D reconstruction. To further exploit the geometric symmetry introduced by mirrors, we propose a symmetric-aware loss to refine pose estimation. Our framework also naturally extends to dynamic scenes, where each frame contains a mirror reflection, enabling efficient per-frame geometry recovery. For quantitative evaluation, we provide a fully customizable synthetic dataset of 16 Blender scenes, each with ground-truth point clouds and camera poses. Extensive experiments on real-world data and synthetic data are conducted to illustrate the effectiveness of our method.

Realistic video simulation has shown significant potential across diverse applications, from virtual reality to film production. This is particularly true for scenarios where capturing videos in real-world settings is either impractical or expensive. Existing approaches in video simulation often fail to accurately model the lighting environment, represent the object geometry, or achieve high levels of photorealism. In this paper, we propose Anything in Any Scene, a novel and generic framework for realistic video simulation that seamlessly inserts any object into an existing dynamic video with a strong emphasis on physical realism. Our proposed general framework encompasses three key processes: 1) integrating a realistic object into a given scene video with proper placement to ensure geometric realism; 2) estimating the sky and environmental lighting distribution and simulating realistic shadows to enhance the light realism; 3) employing a style transfer network that refines the final video output to maximize photorealism. We experimentally demonstrate that Anything in Any Scene framework produces simulated videos of great geometric realism, lighting realism, and photorealism. By significantly mitigating the challenges associated with video data generation, our framework offers an efficient and cost-effective solution for acquiring high-quality videos. Furthermore, its applications extend well beyond video data augmentation, showing promising potential in virtual reality, video editing, and various other video-centric applications. Please check our project website https://anythinginanyscene.github.io for access to our project code and more high-resolution video results.

In this paper, we propose VideoFrom3D, a novel framework for synthesizing high-quality 3D scene videos from coarse geometry, a camera trajectory, and a reference image. Our approach streamlines the 3D graphic design workflow, enabling flexible design exploration and rapid production of deliverables. A straightforward approach to synthesizing a video from coarse geometry might condition a video diffusion model on geometric structure. However, existing video diffusion models struggle to generate high-fidelity results for complex scenes due to the difficulty of jointly modeling visual quality, motion, and temporal consistency. To address this, we propose a generative framework that leverages the complementary strengths of image and video diffusion models. Specifically, our framework consists of a Sparse Anchor-view Generation (SAG) and a Geometry-guided Generative Inbetweening (GGI) module. The SAG module generates high-quality, cross-view consistent anchor views using an image diffusion model, aided by Sparse Appearance-guided Sampling. Building on these anchor views, GGI module faithfully interpolates intermediate frames using a video diffusion model, enhanced by flow-based camera control and structural guidance. Notably, both modules operate without any paired dataset of 3D scene models and natural images, which is extremely difficult to obtain. Comprehensive experiments show that our method produces high-quality, style-consistent scene videos under diverse and challenging scenarios, outperforming simple and extended baselines.

This paper tackles the problem of generalizable 3D-aware generation from monocular datasets, e.g., ImageNet. The key challenge of this task is learning a robust 3D-aware representation without multi-view or dynamic data, while ensuring consistent texture and geometry across different viewpoints. Although some baseline methods are capable of 3D-aware generation, the quality of the generated images still lags behind state-of-the-art 2D generation approaches, which excel in producing high-quality, detailed images. To address this severe limitation, we propose a novel feed-forward pipeline based on pixel-aligned Gaussian Splatting, coined as F3D-Gaus, which can produce more realistic and reliable 3D renderings from monocular inputs. In addition, we introduce a self-supervised cycle-aggregative constraint to enforce cross-view consistency in the learned 3D representation. This training strategy naturally allows aggregation of multiple aligned Gaussian primitives and significantly alleviates the interpolation limitations inherent in single-view pixel-aligned Gaussian Splatting. Furthermore, we incorporate video model priors to perform geometry-aware refinement, enhancing the generation of fine details in wide-viewpoint scenarios and improving the model's capability to capture intricate 3D textures. Extensive experiments demonstrate that our approach not only achieves high-quality, multi-view consistent 3D-aware generation from monocular datasets, but also significantly improves training and inference efficiency.

Partially Relevant Video Retrieval (PRVR) addresses the critical challenge of matching untrimmed videos with text queries describing only partial content. Existing methods suffer from geometric distortion in Euclidean space that sometimes misrepresents the intrinsic hierarchical structure of videos and overlooks certain hierarchical semantics, ultimately leading to suboptimal temporal modeling. To address this issue, we propose the first hyperbolic modeling framework for PRVR, namely HLFormer, which leverages hyperbolic space learning to compensate for the suboptimal hierarchical modeling capabilities of Euclidean space. Specifically, HLFormer integrates the Lorentz Attention Block and Euclidean Attention Block to encode video embeddings in hybrid spaces, using the Mean-Guided Adaptive Interaction Module to dynamically fuse features. Additionally, we introduce a Partial Order Preservation Loss to enforce "text < video" hierarchy through Lorentzian cone constraints. This approach further enhances cross-modal matching by reinforcing partial relevance between video content and text queries. Extensive experiments show that HLFormer outperforms state-of-the-art methods. Code is released at https://github.com/lijun2005/ICCV25-HLFormer.

Industrial visual sim-to-real is often described as transferring from synthetic images to real images, but industrial deployment usually involves a broader mismatch between available evidence and required decisions. A system may be built from CAD renderings, simulated RGB-D observations, normal reference images, synthetic defects, pretrained feature spaces, or language prompts, yet deployed under different sensors, lighting, materials, fixtures, calibration, production variation, and rare defect modes. This review reframes industrial visual sim-to-real as a domain-gap problem organized by prior availability. We distinguish CAD-available settings, where explicit object geometry can support rendering, calibration, pose estimation, segmentation, and test-time geometric verification; CAD-unavailable settings, where geometry is replaced by normal-reference appearance, feature distributions, teacher-student residuals, synthetic anomaly assumptions, foundation features, or vision-language priors; and boundary-prior settings, where approximate models, templates, reference views, or semantic correspondences preserve only part of the CAD role. This framing connects CAD-based detection and 6D pose-estimation literature with industrial anomaly and surface-inspection literature that is usually reviewed separately. To make the taxonomy concrete, we use empirical anchors on T-LESS/BOP, MVTec AD, and VisA. The anchors show that CAD render count alone does not close transfer; source-distribution design, detector capacity, and small real calibration can matter more. They also show that CAD at test time creates a distinct verification channel through mask, pose, and depth consistency, whereas CAD-unavailable inspection relies on calibrated normality and feature deviation. The review therefore argues against a single cross-task leaderboard and instead asks what prior grounds the deployment decision.

We introduce WonderVerse, a simple but effective framework for generating extendable 3D scenes. Unlike existing methods that rely on iterative depth estimation and image inpainting, often leading to geometric distortions and inconsistencies, WonderVerse leverages the powerful world-level priors embedded within video generative foundation models to create highly immersive and geometrically coherent 3D environments. Furthermore, we propose a new technique for controllable 3D scene extension to substantially increase the scale of the generated environments. Besides, we introduce a novel abnormal sequence detection module that utilizes camera trajectory to address geometric inconsistency in the generated videos. Finally, WonderVerse is compatible with various 3D reconstruction methods, allowing both efficient and high-quality generation. Extensive experiments on 3D scene generation demonstrate that our WonderVerse, with an elegant and simple pipeline, delivers extendable and highly-realistic 3D scenes, markedly outperforming existing works that rely on more complex architectures.

This paper aims to develop an accurate 3D geometry representation of satellite images using satellite-ground image pairs. Our focus is on the challenging problem of 3D-aware ground-views synthesis from a satellite image. We draw inspiration from the density field representation used in volumetric neural rendering and propose a new approach, called Sat2Density. Our method utilizes the properties of ground-view panoramas for the sky and non-sky regions to learn faithful density fields of 3D scenes in a geometric perspective. Unlike other methods that require extra depth information during training, our Sat2Density can automatically learn accurate and faithful 3D geometry via density representation without depth supervision. This advancement significantly improves the ground-view panorama synthesis task. Additionally, our study provides a new geometric perspective to understand the relationship between satellite and ground-view images in 3D space.

With the development of video generation models has advanced significantly in recent years, we adopt large-scale image-to-video diffusion models for video frame interpolation. We present a conditional encoder designed to adapt an image-to-video model for large-motion frame interpolation. To enhance performance, we integrate a dual-branch feature extractor and propose a cross-frame attention mechanism that effectively captures both spatial and temporal information, enabling accurate interpolations of intermediate frames. Our approach demonstrates superior performance on the Fr\'echet Video Distance (FVD) metric when evaluated against other state-of-the-art approaches, particularly in handling large motion scenarios, highlighting advancements in generative-based methodologies.

We present Wid3R, a feed-forward neural network for visual geometry reconstruction that supports wide field-of-view camera models. Prior methods typically assume that input images are rectified or captured with pinhole cameras, since both their architectures and training datasets are tailored to perspective images only. These assumptions limit their applicability in real-world scenarios that use fisheye or panoramic cameras and often require careful calibration and undistortion. In contrast, Wid3R is a generalizable multi-view 3D estimation method that can model wide field-of-view camera types. Our approach leverages a ray representation with spherical harmonics and a novel camera model token within the network, enabling distortion-aware 3D reconstruction. Furthermore, Wid3R is the first multi-view foundation model to support feed-forward 3D reconstruction directly from 360 imagery. It demonstrates strong zero-shot robustness and consistently outperforms prior methods, achieving improvements of up to +77.33 on Stanford2D3D.

While 3D Vision Foundation Models (3DVFMs) have demonstrated remarkable zero-shot capabilities in visual geometry estimation, their direct application to generalizable novel view synthesis (NVS) remains challenging. In this paper, we propose AirSplat, a novel training framework that effectively adapts the robust geometric priors of 3DVFMs into high-fidelity, pose-free NVS. Our approach introduces two key technical contributions: (1) Self-Consistent Pose Alignment (SCPA), a training-time feedback loop that ensures pixel-aligned supervision to resolve pose-geometry discrepancy; and (2) Rating-based Opacity Matching (ROM), which leverages the local 3D geometry consistency knowledge from a sparse-view NVS teacher model to filter out degraded primitives. Experimental results on large-scale benchmarks demonstrate that our method significantly outperforms state-of-the-art pose-free NVS approaches in reconstruction quality. Our AirSplat highlights the potential of adapting 3DVFMs to enable simultaneous visual geometry estimation and high-quality view synthesis.

To get clear street-view and photo-realistic simulation in autonomous driving, we present an automatic video inpainting algorithm that can remove traffic agents from videos and synthesize missing regions with the guidance of depth/point cloud. By building a dense 3D map from stitched point clouds, frames within a video are geometrically correlated via this common 3D map. In order to fill a target inpainting area in a frame, it is straightforward to transform pixels from other frames into the current one with correct occlusion. Furthermore, we are able to fuse multiple videos through 3D point cloud registration, making it possible to inpaint a target video with multiple source videos. The motivation is to solve the long-time occlusion problem where an occluded area has never been visible in the entire video. To our knowledge, we are the first to fuse multiple videos for video inpainting. To verify the effectiveness of our approach, we build a large inpainting dataset in the real urban road environment with synchronized images and Lidar data including many challenge scenes, e.g., long time occlusion. The experimental results show that the proposed approach outperforms the state-of-the-art approaches for all the criteria, especially the RMSE (Root Mean Squared Error) has been reduced by about 13%.

Multi-view camera-based 3D detection is a challenging problem in computer vision. Recent works leverage a pretrained LiDAR detection model to transfer knowledge to a camera-based student network. However, we argue that there is a major domain gap between the LiDAR BEV features and the camera-based BEV features, as they have different characteristics and are derived from different sources. In this paper, we propose Geometry Enhanced Masked Image Modeling (GeoMIM) to transfer the knowledge of the LiDAR model in a pretrain-finetune paradigm for improving the multi-view camera-based 3D detection. GeoMIM is a multi-camera vision transformer with Cross-View Attention (CVA) blocks that uses LiDAR BEV features encoded by the pretrained BEV model as learning targets. During pretraining, GeoMIM's decoder has a semantic branch completing dense perspective-view features and the other geometry branch reconstructing dense perspective-view depth maps. The depth branch is designed to be camera-aware by inputting the camera's parameters for better transfer capability. Extensive results demonstrate that GeoMIM outperforms existing methods on nuScenes benchmark, achieving state-of-the-art performance for camera-based 3D object detection and 3D segmentation. Code and pretrained models are available at https://github.com/Sense-X/GeoMIM.

Reconstructing 3D representations from 2D inputs is a fundamental task in computer vision and graphics, serving as a cornerstone for understanding and interacting with the physical world. While traditional methods achieve high fidelity, they are limited by slow per-scene optimization or category-specific training, which hinders their practical deployment and scalability. Hence, generalizable feed-forward 3D reconstruction has witnessed rapid development in recent years. By learning a model that maps images directly to 3D representations in a single forward pass, these methods enable efficient reconstruction and robust cross-scene generalization. Our survey is motivated by a critical observation: despite the diverse geometric output representations, ranging from implicit fields to explicit primitives, existing feed-forward approaches share similar high-level architectural patterns, such as image feature extraction backbones, multi-view information fusion mechanisms, and geometry-aware design principles. Consequently, we abstract away from these representation differences and instead focus on model design, proposing a novel taxonomy centered on model design strategies that are agnostic to the output format. Our proposed taxonomy organizes the research directions into five key problems that drive recent research development: feature enhancement, geometry awareness, model efficiency, augmentation strategies and temporal-aware models. To support this taxonomy with empirical grounding and standardized evaluation, we further comprehensively review related benchmarks and datasets, and extensively discuss and categorize real-world applications based on feed-forward 3D models. Finally, we outline future directions to address open challenges such as scalability, evaluation standards, and world modeling.

We propose Framer for interactive frame interpolation, which targets producing smoothly transitioning frames between two images as per user creativity. Concretely, besides taking the start and end frames as inputs, our approach supports customizing the transition process by tailoring the trajectory of some selected keypoints. Such a design enjoys two clear benefits. First, incorporating human interaction mitigates the issue arising from numerous possibilities of transforming one image to another, and in turn enables finer control of local motions. Second, as the most basic form of interaction, keypoints help establish the correspondence across frames, enhancing the model to handle challenging cases (e.g., objects on the start and end frames are of different shapes and styles). It is noteworthy that our system also offers an "autopilot" mode, where we introduce a module to estimate the keypoints and refine the trajectory automatically, to simplify the usage in practice. Extensive experimental results demonstrate the appealing performance of Framer on various applications, such as image morphing, time-lapse video generation, cartoon interpolation, etc. The code, the model, and the interface will be released to facilitate further research.

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video. Unlike the ad-hoc priors in classical reconstruction, we use a learning-based prior, i.e., a convolutional neural network trained for single-image depth estimation. At test time, we fine-tune this network to satisfy the geometric constraints of a particular input video, while retaining its ability to synthesize plausible depth details in parts of the video that are less constrained. We show through quantitative validation that our method achieves higher accuracy and a higher degree of geometric consistency than previous monocular reconstruction methods. Visually, our results appear more stable. Our algorithm is able to handle challenging hand-held captured input videos with a moderate degree of dynamic motion. The improved quality of the reconstruction enables several applications, such as scene reconstruction and advanced video-based visual effects.

Immersive applications call for synthesizing spatiotemporal 4D content from casual videos without costly 3D supervision. Existing video-to-4D methods typically rely on manually annotated camera poses, which are labor-intensive and brittle for in-the-wild footage. Recent warp-then-inpaint approaches mitigate the need for pose labels by warping input frames along a novel camera trajectory and using an inpainting model to fill missing regions, thereby depicting the 4D scene from diverse viewpoints. However, this trajectory-to-trajectory formulation often entangles camera motion with scene dynamics and complicates both modeling and inference. We introduce SEE4D, a pose-free, trajectory-to-camera framework that replaces explicit trajectory prediction with rendering to a bank of fixed virtual cameras, thereby separating camera control from scene modeling. A view-conditional video inpainting model is trained to learn a robust geometry prior by denoising realistically synthesized warped images and to inpaint occluded or missing regions across virtual viewpoints, eliminating the need for explicit 3D annotations. Building on this inpainting core, we design a spatiotemporal autoregressive inference pipeline that traverses virtual-camera splines and extends videos with overlapping windows, enabling coherent generation at bounded per-step complexity. We validate See4D on cross-view video generation and sparse reconstruction benchmarks. Across quantitative metrics and qualitative assessments, our method achieves superior generalization and improved performance relative to pose- or trajectory-conditioned baselines, advancing practical 4D world modeling from casual videos.

Common computer vision systems typically assume ideal pinhole cameras but fail when facing real-world camera effects such as fisheye distortion and rolling shutter, mainly due to the lack of learning from training data with camera effects. Existing data generation approaches suffer from either high costs, sim-to-real gaps or fail to accurately model camera effects. To address this bottleneck, we propose 4D Gaussian Ray Tracing (4D-GRT), a novel two-stage pipeline that combines 4D Gaussian Splatting with physically-based ray tracing for camera effect simulation. Given multi-view videos, 4D-GRT first reconstructs dynamic scenes, then applies ray tracing to generate videos with controllable, physically accurate camera effects. 4D-GRT achieves the fastest rendering speed while performing better or comparable rendering quality compared to existing baselines. Additionally, we construct eight synthetic dynamic scenes in indoor environments across four camera effects as a benchmark to evaluate generated videos with camera effects.

We present WorldMirror, an all-in-one, feed-forward model for versatile 3D geometric prediction tasks. Unlike existing methods constrained to image-only inputs or customized for a specific task, our framework flexibly integrates diverse geometric priors, including camera poses, intrinsics, and depth maps, while simultaneously generating multiple 3D representations: dense point clouds, multi-view depth maps, camera parameters, surface normals, and 3D Gaussians. This elegant and unified architecture leverages available prior information to resolve structural ambiguities and delivers geometrically consistent 3D outputs in a single forward pass. WorldMirror achieves state-of-the-art performance across diverse benchmarks from camera, point map, depth, and surface normal estimation to novel view synthesis, while maintaining the efficiency of feed-forward inference. Code and models will be publicly available soon.

While recent video diffusion models (VDMs) produce visually impressive results, they fundamentally struggle to maintain 3D structural consistency, often resulting in object deformation or spatial drift. We hypothesize that these failures arise because standard denoising objectives lack explicit incentives for geometric coherence. To address this, we introduce VideoGPA (Video Geometric Preference Alignment), a data-efficient self-supervised framework that leverages a geometry foundation model to automatically derive dense preference signals that guide VDMs via Direct Preference Optimization (DPO). This approach effectively steers the generative distribution toward inherent 3D consistency without requiring human annotations. VideoGPA significantly enhances temporal stability, physical plausibility, and motion coherence using minimal preference pairs, consistently outperforming state-of-the-art baselines in extensive experiments.

Lifting perspective images and videos to 360° panoramas enables immersive 3D world generation. Existing approaches often rely on explicit geometric alignment between the perspective and the equirectangular projection (ERP) space. Yet, this requires known camera metadata, obscuring the application to in-the-wild data where such calibration is typically absent or noisy. We propose 360Anything, a geometry-free framework built upon pre-trained diffusion transformers. By treating the perspective input and the panorama target simply as token sequences, 360Anything learns the perspective-to-equirectangular mapping in a purely data-driven way, eliminating the need for camera information. Our approach achieves state-of-the-art performance on both image and video perspective-to-360° generation, outperforming prior works that use ground-truth camera information. We also trace the root cause of the seam artifacts at ERP boundaries to zero-padding in the VAE encoder, and introduce Circular Latent Encoding to facilitate seamless generation. Finally, we show competitive results in zero-shot camera FoV and orientation estimation benchmarks, demonstrating 360Anything's deep geometric understanding and broader utility in computer vision tasks. Additional results are available at https://360anything.github.io/.

We propose MoGe-2, an advanced open-domain geometry estimation model that recovers a metric scale 3D point map of a scene from a single image. Our method builds upon the recent monocular geometry estimation approach, MoGe, which predicts affine-invariant point maps with unknown scales. We explore effective strategies to extend MoGe for metric geometry prediction without compromising the relative geometry accuracy provided by the affine-invariant point representation. Additionally, we discover that noise and errors in real data diminish fine-grained detail in the predicted geometry. We address this by developing a unified data refinement approach that filters and completes real data from different sources using sharp synthetic labels, significantly enhancing the granularity of the reconstructed geometry while maintaining the overall accuracy. We train our model on a large corpus of mixed datasets and conducted comprehensive evaluations, demonstrating its superior performance in achieving accurate relative geometry, precise metric scale, and fine-grained detail recovery -- capabilities that no previous methods have simultaneously achieved.

High-fidelity human 3D models can now be learned directly from videos, typically by combining a template-based surface model with neural representations. However, obtaining a template surface requires expensive multi-view capture systems, laser scans, or strictly controlled conditions. Previous methods avoid using a template but rely on a costly or ill-posed mapping from observation to canonical space. We propose a hybrid point-based representation for reconstructing animatable characters that does not require an explicit surface model, while being generalizable to novel poses. For a given video, our method automatically produces an explicit set of 3D points representing approximate canonical geometry, and learns an articulated deformation model that produces pose-dependent point transformations. The points serve both as a scaffold for high-frequency neural features and an anchor for efficiently mapping between observation and canonical space. We demonstrate on established benchmarks that our representation overcomes limitations of prior work operating in either canonical or in observation space. Moreover, our automatic point extraction approach enables learning models of human and animal characters alike, matching the performance of the methods using rigged surface templates despite being more general. Project website: https://lemonatsu.github.io/npc/

Camera pose matters. The position and orientation of each viewpoint define a shared spatial coordinate frame that relates observations across video frames. Yet this signal is largely absent from multimodal LLMs (MLLMs) for video understanding, which process frames as isolated 2D snapshots, instead of the persistent scene humans perceive. We revisit pose as a lightweight supervisory signal and introduce Cambrian-P, a video MLLM augmented with per-frame learnable camera tokens and a pose regression head. With a carefully designed sampling scheme, the model achieves substantial gains of 4.5-6.5% on spatial reasoning benchmarks such as VSI-Bench, generalizes across eight additional spatial and general video QA benchmarks, and, as a byproduct, achieves state of the art streaming pose estimation on ScanNet. Surprisingly, training on pseudo-annotated poses from in-the-wild video further improves general video QA benchmarks, showing pose helps beyond spatial reasoning. Together, these results position camera pose as a fundamental signal for video models that reason about the physical world.

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image features into the BEV coordinate frame. This paper focuses on leveraging geometry information, such as depth, to model such feature transformation. Existing works rely on non-parametric depth distribution modeling leading to significant memory consumption, or ignore the geometry information to address this problem. In contrast, we propose to use parametric depth distribution modeling for feature transformation. We first lift the 2D image features to the 3D space defined for the ego vehicle via a predicted parametric depth distribution for each pixel in each view. Then, we aggregate the 3D feature volume based on the 3D space occupancy derived from depth to the BEV frame. Finally, we use the transformed features for downstream tasks such as object detection and semantic segmentation. Existing semantic segmentation methods do also suffer from an hallucination problem as they do not take visibility information into account. This hallucination can be particularly problematic for subsequent modules such as control and planning. To mitigate the issue, our method provides depth uncertainty and reliable visibility-aware estimations. We further leverage our parametric depth modeling to present a novel visibility-aware evaluation metric that, when taken into account, can mitigate the hallucination problem. Extensive experiments on object detection and semantic segmentation on the nuScenes datasets demonstrate that our method outperforms existing methods on both tasks.

Video analysis tasks rely heavily on identifying the pixels from different frames that correspond to the same visual target. To tackle this problem, recent studies have advocated feature learning methods that aim to learn distinctive representations to match the pixels, especially in a self-supervised fashion. Unfortunately, these methods have difficulties for tiny or even single-pixel visual targets. Pixel-wise video correspondences were traditionally related to optical flows, which however lead to deterministic correspondences and lack robustness on real-world videos. We address the problem of learning features for establishing pixel-wise correspondences. Motivated by optical flows as well as the self-supervised feature learning, we propose to use not only labeled synthetic videos but also unlabeled real-world videos for learning fine-grained representations in a holistic framework. We adopt an adversarial learning scheme to enhance the generalization ability of the learned features. Moreover, we design a coarse-to-fine framework to pursue high computational efficiency. Our experimental results on a series of correspondence-based tasks demonstrate that the proposed method outperforms state-of-the-art rivals in both accuracy and efficiency.

The transformation of features from 2D perspective space to 3D space is essential to multi-view 3D object detection. Recent approaches mainly focus on the design of view transformation, either pixel-wisely lifting perspective view features into 3D space with estimated depth or grid-wisely constructing BEV features via 3D projection, treating all pixels or grids equally. However, choosing what to transform is also important but has rarely been discussed before. The pixels of a moving car are more informative than the pixels of the sky. To fully utilize the information contained in images, the view transformation should be able to adapt to different image regions according to their contents. In this paper, we propose a novel framework named FrustumFormer, which pays more attention to the features in instance regions via adaptive instance-aware resampling. Specifically, the model obtains instance frustums on the bird's eye view by leveraging image view object proposals. An adaptive occupancy mask within the instance frustum is learned to refine the instance location. Moreover, the temporal frustum intersection could further reduce the localization uncertainty of objects. Comprehensive experiments on the nuScenes dataset demonstrate the effectiveness of FrustumFormer, and we achieve a new state-of-the-art performance on the benchmark. Codes and models will be made available at https://github.com/Robertwyq/Frustum.

We present MoVerse, a real-time video world model that creates an interactively navigable scene from a single narrow-field-of-view image. This setting is challenging because the input observes only a small fraction of the environment, while interactive roaming requires a complete surrounding world, persistent geometry, controllable camera motion, and temporally coherent high-fidelity observations. MoVerse addresses this problem by separating world construction from observation rendering. It first expands the input into a gravity-aligned 360^circ panorama with topology-aware diffusion, closing the missing field of view before 3D reasoning. It then lifts the panorama into a persistent 3D Gaussian scaffold using panoramic geometry-aware residual prediction, yielding a dense and directly renderable spatial memory. Finally, a Gaussian-conditioned video renderer translates scaffold renderings along user-specified camera trajectories into photorealistic video. To make this renderer practical for interaction, we train a bidirectional diffusion teacher for high-quality conditional rendering and distill it into a causal autoregressive student for bounded-latency streaming. This design combines the controllability and long-range consistency of explicit 3D representations with the perceptual quality of generative video models. MoVerse supports real-time scene roaming at 8~FPS on a single NVIDIA RTX~4090 GPU, demonstrating a practical path toward single-image world creation with interactive video output.

Diffusion models excel at 2D outpainting, but extending them to 360^circ panoramic completion from unposed perspective images is challenging due to the geometric and topological mismatch between perspective projections and spherical panoramas. We present Gimbal360, a principled framework that explicitly bridges perspective observations and spherical panoramas. We introduce a Canonical Viewing Space that regularizes projective geometry and provides a consistent intermediate representation between the two domains. To anchor in-the-wild inputs to this space, we propose a Differentiable Auto-Leveling module that stabilizes feature orientation without requiring camera parameters at inference. Panoramic generation also introduces a topological challenge. Standard generative architectures assume a bounded Euclidean image plane, while Equirectangular Projection (ERP) panoramas exhibit intrinsic S^1 periodicity. Euclidean operations therefore break boundary continuity. We address this mismatch by enforcing topological equivariance in the latent space to preserve seamless periodic structure. To support this formulation, we introduce Horizon360, a curated large-scale dataset of gravity-aligned panoramic environments. Extensive experiments show that explicitly standardizing geometric and topological priors enables Gimbal360 to achieve state-of-the-art performance in structurally consistent 360^circ scene completion.

Dense 3D reconstruction and tracking of dynamic scenes from monocular video remains an important open challenge in computer vision. Progress in this area has been constrained by the scarcity of high-quality datasets with dense, complete, and accurate geometric annotations. To address this limitation, we introduce Syn4D, a multiview synthetic dataset of dynamic scenes that includes ground-truth camera motion, depth maps, dense tracking, and parametric human pose annotations. A key feature of Syn4D is the ability to unproject any pixel into 3D to any time and to any camera. We conduct extensive evaluations across multiple downstream tasks to demonstrate the utility and effectiveness of the proposed dataset, including 4D scene reconstruction, 3D point tracking, geometry-aware camera retargeting, and human pose estimation. The experimental results highlight Syn4D's potential to facilitate research in dynamic scene understanding and spatiotemporal modeling.

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera configurations. To bridge this gap, we propose a Driving Visual Geometry Transformer (DVGT), which reconstructs a global dense 3D point map from a sequence of unposed multi-view visual inputs. We first extract visual features for each image using a DINO backbone, and employ alternating intra-view local attention, cross-view spatial attention, and cross-frame temporal attention to infer geometric relations across images. We then use multiple heads to decode a global point map in the ego coordinate of the first frame and the ego poses for each frame. Unlike conventional methods that rely on precise camera parameters, DVGT is free of explicit 3D geometric priors, enabling flexible processing of arbitrary camera configurations. DVGT directly predicts metric-scaled geometry from image sequences, eliminating the need for post-alignment with external sensors. Trained on a large mixture of driving datasets including nuScenes, OpenScene, Waymo, KITTI, and DDAD, DVGT significantly outperforms existing models on various scenarios. Code is available at https://github.com/wzzheng/DVGT.

Recent advances in video generation have enabled the synthesis of high-quality and visually realistic clips using diffusion transformer models. However, most existing approaches operate purely in the 2D pixel space and lack explicit mechanisms for modeling 3D structures, often resulting in temporally inconsistent geometries, implausible motions, and structural artifacts. In this work, we introduce geometric regularization losses into video generation by augmenting latent diffusion models with per-frame depth prediction. We adopted depth as the geometric representation because of the great progress in depth prediction and its compatibility with image-based latent encoders. Specifically, to enforce structural consistency over time, we propose a multi-view geometric loss that aligns the predicted depth maps across frames within a shared 3D coordinate system. Our method bridges the gap between appearance generation and 3D structure modeling, leading to improved spatio-temporal coherence, shape consistency, and physical plausibility. Experiments across multiple datasets show that our approach produces significantly more stable and geometrically consistent results than existing baselines.

Recent advances in language and vision have demonstrated that scaling up model capacity consistently improves performance across diverse tasks. In 3D visual geometry reconstruction, large-scale training has likewise proven effective for learning versatile representations. However, further scaling of 3D models is challenging due to the complexity of geometric supervision and the diversity of 3D data. To overcome these limitations, we propose MoRE, a dense 3D visual foundation model based on a Mixture-of-Experts (MoE) architecture that dynamically routes features to task-specific experts, allowing them to specialize in complementary data aspects and enhance both scalability and adaptability. Aiming to improve robustness under real-world conditions, MoRE incorporates a confidence-based depth refinement module that stabilizes and refines geometric estimation. In addition, it integrates dense semantic features with globally aligned 3D backbone representations for high-fidelity surface normal prediction. MoRE is further optimized with tailored loss functions to ensure robust learning across diverse inputs and multiple geometric tasks. Extensive experiments demonstrate that MoRE achieves state-of-the-art performance across multiple benchmarks and supports effective downstream applications without extra computation.

Recent advances in neural reconstruction using posed image sequences have made remarkable progress. However, due to the lack of depth information, existing volumetric-based techniques simply duplicate 2D image features of the object surface along the entire camera ray. We contend this duplication introduces noise in empty and occluded spaces, posing challenges for producing high-quality 3D geometry. Drawing inspiration from traditional multi-view stereo methods, we propose an end-to-end 3D neural reconstruction framework CVRecon, designed to exploit the rich geometric embedding in the cost volumes to facilitate 3D geometric feature learning. Furthermore, we present Ray-contextual Compensated Cost Volume (RCCV), a novel 3D geometric feature representation that encodes view-dependent information with improved integrity and robustness. Through comprehensive experiments, we demonstrate that our approach significantly improves the reconstruction quality in various metrics and recovers clear fine details of the 3D geometries. Our extensive ablation studies provide insights into the development of effective 3D geometric feature learning schemes. Project page: https://cvrecon.ziyue.cool/

Pose-free feed-forward 3D Gaussian Splatting (3DGS) has opened a new frontier for rapid 3D modeling, enabling high-quality Gaussian representations to be generated from uncalibrated multi-view images in a single forward pass. The dominant approach in this space adopts unified monolithic architectures, often built on geometry-centric 3D foundation models, to jointly estimate camera poses and synthesize 3DGS representations within a single network. While architecturally streamlined, such "all-in-one" designs may be suboptimal for high-fidelity 3DGS generation, as they entangle geometric reasoning and appearance modeling within a shared representation. In this work, we introduce 2Xplat, a pose-free feed-forward 3DGS framework based on a two-expert design that explicitly separates geometry estimation from Gaussian generation. A dedicated geometry expert first predicts camera poses, which are then explicitly passed to a powerful appearance expert that synthesizes 3D Gaussians. Despite its conceptual simplicity, being largely underexplored in prior works, the proposed approach proves highly effective. In fewer than 5K training iterations, the proposed two-experts pipeline substantially outperforms prior pose-free feed-forward 3DGS approaches and achieves performance on par with state-of-the-art posed methods. These results challenge the prevailing unified paradigm and suggest the potential advantages of modular design principles for complex 3D geometric estimation and appearance synthesis tasks.

The topic of stitching images with globally natural structures holds paramount significance. Current methodologies exhibit the ability to preserve local geometric structures, yet fall short in maintaining relationships between these geometric structures. In this paper, we endeavor to safeguard the overall, OBJect-level structures within images based on Global Similarity Prior, while concurrently mitigating distortion and ghosting artifacts with OBJ-GSP. Our approach leverages the Segment Anything Model to extract geometric structures with semantic information, enhancing the algorithm's ability to preserve objects in a manner that aligns more intuitively with human perception. We seek to identify spatial constraints that govern the relationships between various geometric boundaries. Recognizing that multiple geometric boundaries collectively define complete objects, we employ triangular meshes to safeguard not only individual geometric structures but also the overall shapes of objects within the images. Empirical evaluations across multiple image stitching datasets demonstrate that our method establishes a new state-of-the-art benchmark in image stitching. Our implementation and dataset is publicly available at https://github.com/RussRobin/OBJ-GSP .

In this work, we focus on the challenge of temporally consistent human-centric dense prediction across video sequences. Existing models achieve strong per-frame accuracy but often flicker under motion, occlusion, and lighting changes, and they rarely have paired human video supervision for multiple dense tasks. We address this gap with a scalable synthetic data pipeline that generates photorealistic human frames and motion-aligned sequences with pixel-accurate depth, normals, and masks. Unlike prior static data synthetic pipelines, our pipeline provides both frame-level labels for spatial learning and sequence-level supervision for temporal learning. Building on this, we train a unified ViT-based dense predictor that (i) injects an explicit human geometric prior via CSE embeddings and (ii) improves geometry-feature reliability with a lightweight channel reweighting module after feature fusion. Our two-stage training strategy, combining static pretraining with dynamic sequence supervision, enables the model first to acquire robust spatial representations and then refine temporal consistency across motion-aligned sequences. Extensive experiments show that we achieve state-of-the-art performance on THuman2.1 and Hi4D and generalize effectively to in-the-wild videos.

We present the ShareGPT4Video series, aiming to facilitate the video understanding of large video-language models (LVLMs) and the video generation of text-to-video models (T2VMs) via dense and precise captions. The series comprises: 1) ShareGPT4Video, 40K GPT4V annotated dense captions of videos with various lengths and sources, developed through carefully designed data filtering and annotating strategy. 2) ShareCaptioner-Video, an efficient and capable captioning model for arbitrary videos, with 4.8M high-quality aesthetic videos annotated by it. 3) ShareGPT4Video-8B, a simple yet superb LVLM that reached SOTA performance on three advancing video benchmarks. To achieve this, taking aside the non-scalable costly human annotators, we find using GPT4V to caption video with a naive multi-frame or frame-concatenation input strategy leads to less detailed and sometimes temporal-confused results. We argue the challenge of designing a high-quality video captioning strategy lies in three aspects: 1) Inter-frame precise temporal change understanding. 2) Intra-frame detailed content description. 3) Frame-number scalability for arbitrary-length videos. To this end, we meticulously designed a differential video captioning strategy, which is stable, scalable, and efficient for generating captions for videos with arbitrary resolution, aspect ratios, and length. Based on it, we construct ShareGPT4Video, which contains 40K high-quality videos spanning a wide range of categories, and the resulting captions encompass rich world knowledge, object attributes, camera movements, and crucially, detailed and precise temporal descriptions of events. Based on ShareGPT4Video, we further develop ShareCaptioner-Video, a superior captioner capable of efficiently generating high-quality captions for arbitrary videos...

Video-conditioned 4D shape generation aims to recover time-varying 3D geometry and view-consistent appearance directly from an input video. In this work, we introduce a native video-to-4D shape generation framework that synthesizes a single dynamic 3D representation end-to-end from the video. Our framework introduces three key components based on large-scale pre-trained 3D models: (i) a temporal attention that conditions generation on all frames while producing a time-indexed dynamic representation; (ii) a time-aware point sampling and 4D latent anchoring that promote temporally consistent geometry and texture; and (iii) noise sharing across frames to enhance temporal stability. Our method accurately captures non-rigid motion, volume changes, and even topological transitions without per-frame optimization. Across diverse in-the-wild videos, our method improves robustness and perceptual fidelity and reduces failure modes compared with the baselines.

Large-scale video diffusion models achieve impressive visual quality, yet often fail to preserve geometric consistency. Prior approaches improve consistency either by augmenting the generator with additional modules or applying geometry-aware alignment. However, architectural modifications can compromise the generalization of internet-scale pretrained models, while existing alignment methods are limited to static scenes and rely on RGB-space rewards that require repeated VAE decoding, incurring substantial compute overhead and failing to generalize to highly dynamic real-world scenes. To preserve the pretrained capacity while improving geometric consistency, we propose VGGRPO (Visual Geometry GRPO), a latent geometry-guided framework for geometry-aware video post-training. VGGRPO introduces a Latent Geometry Model (LGM) that stitches video diffusion latents to geometry foundation models, enabling direct decoding of scene geometry from the latent space. By constructing LGM from a geometry model with 4D reconstruction capability, VGGRPO naturally extends to dynamic scenes, overcoming the static-scene limitations of prior methods. Building on this, we perform latent-space Group Relative Policy Optimization with two complementary rewards: a camera motion smoothness reward that penalizes jittery trajectories, and a geometry reprojection consistency reward that enforces cross-view geometric coherence. Experiments on both static and dynamic benchmarks show that VGGRPO improves camera stability, geometry consistency, and overall quality while eliminating costly VAE decoding, making latent-space geometry-guided reinforcement an efficient and flexible approach to world-consistent video generation.

This work presents ViGeo, a feed-forward foundation model for recovering spatially dense and temporally consistent geometry from video sequences. Built upon a plain transformer architecture without task-specific architectural modifications, ViGeo supports streaming, full-sequence, and long-video inference within a unified model. The key design is dynamic chunking attention, which exposes the model to both bidirectional and causal temporal contexts during training and allows it to adapt its attention pattern at test time without retraining. To improve supervision quality, we further introduce a completion-based data refinement framework. This framework trains a video depth completion teacher that conditions on sparse and noisy annotations and exploits video/multi-view context to produce dense, temporally coherent, and geometrically reliable training targets. Beyond depth and point maps, ViGeo also predicts surface normals within the same framework. Trained solely on public datasets, ViGeo achieves state-of-the-art performance across online, offline, and long-video depth estimation, surface normal estimation, and video point map estimation.

Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of scalable 4D-aware training resources. To bridge this gap across aspects of dataset, benchmark and model, we introduce DSR Suite. First, we propose an automated pipeline that generates multiple-choice question-answer pairs from in-the-wild videos for DSR. By leveraging modern vision foundation models, the pipeline extracts rich geometric and motion information, including camera poses, local point clouds, object masks, orientations, and 3D trajectories. These geometric cues enable the construction of DSR-Train for learning and further human-refined DSR-Bench for evaluation. Compared with previous works, our data emphasize (i) in-the-wild video sources, (ii) object- and scene-level 3D requirements, (iii) viewpoint transformations, (iv) multi-object interactions, and (v) fine-grained, procedural answers. Beyond data, we propose a lightweight Geometry Selection Module (GSM) to seamlessly integrate geometric priors into VLMs, which condenses question semantics and extracts question-relevant knowledge from pretrained 4D reconstruction priors into a compact set of geometry tokens. This targeted extraction avoids overwhelming the model with irrelevant knowledge. Experiments show that integrating DSR-Train and GSM into Qwen2.5-VL-7B significantly enhances its dynamic spatial reasoning capability, while maintaining accuracy on general video understanding benchmarks.

Panoramic videos contain richer spatial information and have attracted tremendous amounts of attention due to their exceptional experience in some fields such as autonomous driving and virtual reality. However, existing datasets for video segmentation only focus on conventional planar images. To address the challenge, in this paper, we present a panoramic video dataset, PanoVOS. The dataset provides 150 videos with high video resolutions and diverse motions. To quantify the domain gap between 2D planar videos and panoramic videos, we evaluate 15 off-the-shelf video object segmentation (VOS) models on PanoVOS. Through error analysis, we found that all of them fail to tackle pixel-level content discontinues of panoramic videos. Thus, we present a Panoramic Space Consistency Transformer (PSCFormer), which can effectively utilize the semantic boundary information of the previous frame for pixel-level matching with the current frame. Extensive experiments demonstrate that compared with the previous SOTA models, our PSCFormer network exhibits a great advantage in terms of segmentation results under the panoramic setting. Our dataset poses new challenges in panoramic VOS and we hope that our PanoVOS can advance the development of panoramic segmentation/tracking.

Generating long-range, geometrically consistent video presents a fundamental dilemma: while consistency demands strict adherence to 3D geometry in pixel space, state-of-the-art generative models operate most effectively in a camera-conditioned latent space. This disconnect causes current methods to struggle with occluded areas and complex camera trajectories. To bridge this gap, we propose WorldWarp, a framework that couples a 3D structural anchor with a 2D generative refiner. To establish geometric grounding, WorldWarp maintains an online 3D geometric cache built via Gaussian Splatting (3DGS). By explicitly warping historical content into novel views, this cache acts as a structural scaffold, ensuring each new frame respects prior geometry. However, static warping inevitably leaves holes and artifacts due to occlusions. We address this using a Spatio-Temporal Diffusion (ST-Diff) model designed for a "fill-and-revise" objective. Our key innovation is a spatio-temporal varying noise schedule: blank regions receive full noise to trigger generation, while warped regions receive partial noise to enable refinement. By dynamically updating the 3D cache at every step, WorldWarp maintains consistency across video chunks. Consequently, it achieves state-of-the-art fidelity by ensuring that 3D logic guides structure while diffusion logic perfects texture. Project page: https://hyokong.github.io/worldwarp-page/{https://hyokong.github.io/worldwarp-page/}.

Feedforward geometric foundation models achieve strong short-window reconstruction, yet scaling them to minutes-long videos is bottlenecked by quadratic attention complexity or limited effective memory in recurrent designs. We present LoGeR (Long-context Geometric Reconstruction), a novel architecture that scales dense 3D reconstruction to extremely long sequences without post-optimization. LoGeR processes video streams in chunks, leveraging strong bidirectional priors for high-fidelity intra-chunk reasoning. To manage the critical challenge of coherence across chunk boundaries, we propose a learning-based hybrid memory module. This dual-component system combines a parametric Test-Time Training (TTT) memory to anchor the global coordinate frame and prevent scale drift, alongside a non-parametric Sliding Window Attention (SWA) mechanism to preserve uncompressed context for high-precision adjacent alignment. Remarkably, this memory architecture enables LoGeR to be trained on sequences of 128 frames, and generalize up to thousands of frames during inference. Evaluated across standard benchmarks and a newly repurposed VBR dataset with sequences of up to 19k frames, LoGeR substantially outperforms prior state-of-the-art feedforward methods--reducing ATE on KITTI by over 74%--and achieves robust, globally consistent reconstruction over unprecedented horizons.

The large abundance of perspective camera datasets facilitated the emergence of novel learning-based strategies for various tasks, such as camera localization, single image depth estimation, or view synthesis. However, panoramic or omnidirectional image datasets, including essential information, such as pose and depth, are mostly made with synthetic scenes. In this work, we introduce a large scale 360^{circ} videos dataset in the wild. This dataset has been carefully scraped from the Internet and has been captured from various locations worldwide. Hence, this dataset exhibits very diversified environments (e.g., indoor and outdoor) and contexts (e.g., with and without moving objects). Each of the 25K images constituting our dataset is provided with its respective camera's pose and depth map. We illustrate the relevance of our dataset for two main tasks, namely, single image depth estimation and view synthesis.

We present Motion 3-to-4, a feed-forward framework for synthesising high-quality 4D dynamic objects from a single monocular video and an optional 3D reference mesh. While recent advances have significantly improved 2D, video, and 3D content generation, 4D synthesis remains difficult due to limited training data and the inherent ambiguity of recovering geometry and motion from a monocular viewpoint. Motion 3-to-4 addresses these challenges by decomposing 4D synthesis into static 3D shape generation and motion reconstruction. Using a canonical reference mesh, our model learns a compact motion latent representation and predicts per-frame vertex trajectories to recover complete, temporally coherent geometry. A scalable frame-wise transformer further enables robustness to varying sequence lengths. Evaluations on both standard benchmarks and a new dataset with accurate ground-truth geometry show that Motion 3-to-4 delivers superior fidelity and spatial consistency compared to prior work. Project page is available at https://motion3-to-4.github.io/.

3D Gaussian Splatting has recently achieved notable success in novel view synthesis for dynamic scenes and geometry reconstruction in static scenes. Building on these advancements, early methods have been developed for dynamic surface reconstruction by globally optimizing entire sequences. However, reconstructing dynamic scenes with significant topology changes, emerging or disappearing objects, and rapid movements remains a substantial challenge, particularly for long sequences. To address these issues, we propose AT-GS, a novel method for reconstructing high-quality dynamic surfaces from multi-view videos through per-frame incremental optimization. To avoid local minima across frames, we introduce a unified and adaptive gradient-aware densification strategy that integrates the strengths of conventional cloning and splitting techniques. Additionally, we reduce temporal jittering in dynamic surfaces by ensuring consistency in curvature maps across consecutive frames. Our method achieves superior accuracy and temporal coherence in dynamic surface reconstruction, delivering high-fidelity space-time novel view synthesis, even in complex and challenging scenes. Extensive experiments on diverse multi-view video datasets demonstrate the effectiveness of our approach, showing clear advantages over baseline methods. Project page: https://fraunhoferhhi.github.io/AT-GS

Omnidirectional cameras are widely used in such areas as robotics and virtual reality as they provide a wide field of view. Their images are often processed with classical methods, which might unfortunately lead to non-optimal solutions as these methods are designed for planar images that have different geometrical properties than omnidirectional ones. In this paper we study image classification task by taking into account the specific geometry of omnidirectional cameras with graph-based representations. In particular, we extend deep learning architectures to data on graphs; we propose a principled way of graph construction such that convolutional filters respond similarly for the same pattern on different positions of the image regardless of lens distortions. Our experiments show that the proposed method outperforms current techniques for the omnidirectional image classification problem.

We present WonderZoom, a novel approach to generating 3D scenes with contents across multiple spatial scales from a single image. Existing 3D world generation models remain limited to single-scale synthesis and cannot produce coherent scene contents at varying granularities. The fundamental challenge is the lack of a scale-aware 3D representation capable of generating and rendering content with largely different spatial sizes. WonderZoom addresses this through two key innovations: (1) scale-adaptive Gaussian surfels for generating and real-time rendering of multi-scale 3D scenes, and (2) a progressive detail synthesizer that iteratively generates finer-scale 3D contents. Our approach enables users to "zoom into" a 3D region and auto-regressively synthesize previously non-existent fine details from landscapes to microscopic features. Experiments demonstrate that WonderZoom significantly outperforms state-of-the-art video and 3D models in both quality and alignment, enabling multi-scale 3D world creation from a single image. We show video results and an interactive viewer of generated multi-scale 3D worlds in https://wonderzoom.github.io/

Multimodal Large Language Models (MLLMs) excel at 2D semantic understanding but lack intrinsic 3D awareness, resulting in representations that fail to maintain geometric and spatial consistency across video frames. Given the scarcity of large-scale 3D data, we present GeoVR, a novel framework that learns geometric representations using purely 2D video sequences. This approach effectively restructures the semantic latent space within MLLMs to unlock spatial intelligence. Rather than employing superficial feature mixing, GeoVR reshapes the internal representations of the MLLM by distilling geometry knowledge from pre-trained 3D foundation models. This is accomplished through a multi-objective learning strategy driven by four complementary geometric targets: (1) estimating inter-frame camera poses to embed varying viewpoint dynamics, (2) regressing dense depth maps to anchor physical distances, (3) predicting a metric scale factor for real-world calibration, and (4) distilling multi-scale 3D features to align the intermediate feature space. Guided by these explicit physical and geometric constraints, the model's internal representations naturally develop strong 3D awareness. Extensive experiments on spatial reasoning benchmarks demonstrate that GeoVR achieves state-of-the-art performance, establishing a new paradigm for endowing foundation models with spatial intelligence.

Robust and efficient local feature matching plays a crucial role in applications such as SLAM and visual localization for robotics. Despite great progress, it is still very challenging to extract robust and discriminative visual features in scenarios with drastic lighting changes, low texture areas, or repetitive patterns. In this paper, we propose a new lightweight network called LiftFeat, which lifts the robustness of raw descriptor by aggregating 3D geometric feature. Specifically, we first adopt a pre-trained monocular depth estimation model to generate pseudo surface normal label, supervising the extraction of 3D geometric feature in terms of predicted surface normal. We then design a 3D geometry-aware feature lifting module to fuse surface normal feature with raw 2D descriptor feature. Integrating such 3D geometric feature enhances the discriminative ability of 2D feature description in extreme conditions. Extensive experimental results on relative pose estimation, homography estimation, and visual localization tasks, demonstrate that our LiftFeat outperforms some lightweight state-of-the-art methods. Code will be released at : https://github.com/lyp-deeplearning/LiftFeat.

Recovering clean and accurate geometry from images is essential for robotics and augmented reality. However, existing geometry foundation models still suffer severely from flying pixels and the loss of fine details. In this paper, we present pixel-perfect visual geometry models that can predict high-quality, flying-pixel-free point clouds by leveraging generative modeling in the pixel space. We first introduce Pixel-Perfect Depth (PPD), a monocular depth foundation model built upon pixel-space diffusion transformers (DiT). To address the high computational complexity associated with pixel-space diffusion, we propose two key designs: 1) Semantics-Prompted DiT, which incorporates semantic representations from vision foundation models to prompt the diffusion process, preserving global semantics while enhancing fine-grained visual details; and 2) Cascade DiT architecture that progressively increases the number of image tokens, improving both efficiency and accuracy. To further extend PPD to video (PPVD), we introduce a new Semantics-Consistent DiT, which extracts temporally consistent semantics from a multi-view geometry foundation model. We then perform reference-guided token propagation within the DiT to maintain temporal coherence with minimal computational and memory overhead. Our models achieve the best performance among all generative monocular and video depth estimation models and produce significantly cleaner point clouds than all other models.