Daily Papers

Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated collection. Recent efforts show that learning-based solutions have the potential to be used in place of the repeatability works of manual calibrations. Among these solutions, various learning strategies, networks, geometric priors, and datasets have been investigated. In this paper, we provide a comprehensive survey of learning-based camera calibration techniques, by analyzing their strengths and limitations. Our main calibration categories include the standard pinhole camera model, distortion camera model, cross-view model, and cross-sensor model, following the research trend and extended applications. As there is no unified benchmark in this community, we collect a holistic calibration dataset that can serve as a public platform to evaluate the generalization of existing methods. It comprises both synthetic and real-world data, with images and videos captured by different cameras in diverse scenes. Toward the end of this paper, we discuss the challenges and provide further research directions. To our knowledge, this is the first survey for the learning-based camera calibration (spanned 10 years). The summarized methods, datasets, and benchmarks are available and will be regularly updated at https://github.com/KangLiao929/Awesome-Deep-Camera-Calibration.

Monocular 3D estimation is crucial for visual perception. However, current methods fall short by relying on oversimplified assumptions, such as pinhole camera models or rectified images. These limitations severely restrict their general applicability, causing poor performance in real-world scenarios with fisheye or panoramic images and resulting in substantial context loss. To address this, we present UniK3D, the first generalizable method for monocular 3D estimation able to model any camera. Our method introduces a spherical 3D representation which allows for better disentanglement of camera and scene geometry and enables accurate metric 3D reconstruction for unconstrained camera models. Our camera component features a novel, model-independent representation of the pencil of rays, achieved through a learned superposition of spherical harmonics. We also introduce an angular loss, which, together with the camera module design, prevents the contraction of the 3D outputs for wide-view cameras. A comprehensive zero-shot evaluation on 13 diverse datasets demonstrates the state-of-the-art performance of UniK3D across 3D, depth, and camera metrics, with substantial gains in challenging large-field-of-view and panoramic settings, while maintaining top accuracy in conventional pinhole small-field-of-view domains. Code and models are available at github.com/lpiccinelli-eth/unik3d .

Monocular depth estimation aims to infer a dense depth map from a single image, which is a fundamental and prevalent task in computer vision. Many previous works have shown impressive depth estimation results through carefully designed network structures, but they usually ignore the planar information and therefore perform poorly in low-texture areas of indoor scenes. In this paper, we propose Plane2Depth, which adaptively utilizes plane information to improve depth prediction within a hierarchical framework. Specifically, in the proposed plane guided depth generator (PGDG), we design a set of plane queries as prototypes to softly model planes in the scene and predict per-pixel plane coefficients. Then the predicted plane coefficients can be converted into metric depth values with the pinhole camera model. In the proposed adaptive plane query aggregation (APGA) module, we introduce a novel feature interaction approach to improve the aggregation of multi-scale plane features in a top-down manner. Extensive experiments show that our method can achieve outstanding performance, especially in low-texture or repetitive areas. Furthermore, under the same backbone network, our method outperforms the state-of-the-art methods on the NYU-Depth-v2 dataset, achieves competitive results with state-of-the-art methods KITTI dataset and can be generalized to unseen scenes effectively.

In this paper, we present a complete refractive Structure-from-Motion (RSfM) framework for underwater 3D reconstruction using refractive camera setups (for both, flat- and dome-port underwater housings). Despite notable achievements in refractive multi-view geometry over the past decade, a robust, complete and publicly available solution for such tasks is not available at present, and often practical applications have to resort to approximating refraction effects by the intrinsic (distortion) parameters of a pinhole camera model. To fill this gap, we have integrated refraction considerations throughout the entire SfM process within the state-of-the-art, open-source SfM framework COLMAP. Numerical simulations and reconstruction results on synthetically generated but photo-realistic images with ground truth validate that enabling refraction does not compromise accuracy or robustness as compared to in-air reconstructions. Finally, we demonstrate the capability of our approach for large-scale refractive scenarios using a dataset consisting of nearly 6000 images. The implementation is released as open-source at: https://cau-git.rz.uni-kiel.de/inf-ag-koeser/colmap_underwater.

We present AnyCalib, a method for calibrating the intrinsic parameters of a camera from a single in-the-wild image, that is agnostic to the camera model. Current methods are predominantly tailored to specific camera models and/or require extrinsic cues, such as the direction of gravity, to be visible in the image. In contrast, we argue that the perspective and distortion cues inherent in images are sufficient for model-agnostic camera calibration. To demonstrate this, we frame the calibration process as the regression of the rays corresponding to each pixel. We show, for the first time, that this intermediate representation allows for a closed-form recovery of the intrinsics for a wide range of camera models, including but not limited to: pinhole, Brown-Conrady and Kannala-Brandt. Our approach also applies to edited -- cropped and stretched -- images. Experimentally, we demonstrate that AnyCalib consistently outperforms alternative methods, including 3D foundation models, despite being trained on orders of magnitude less data. Code is available at https://github.com/javrtg/AnyCalib.

Recovering a 3D surface from its surface normal map, a problem known as normal integration, is a key component for photometric shape reconstruction techniques such as shape-from-shading and photometric stereo. The vast majority of existing approaches for normal integration handle only implicitly the presence of depth discontinuities and are limited to orthographic or ideal pinhole cameras. In this paper, we propose a novel formulation that allows modeling discontinuities explicitly and handling generic central cameras. Our key idea is based on a local planarity assumption, that we model through constraints between surface normals and ray directions. Compared to existing methods, our approach more accurately approximates the relation between depth and surface normals, achieves state-of-the-art results on the standard normal integration benchmark, and is the first to directly handle generic central camera models.

In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essential for many 3D vision tasks. However, most existing methods depend on handcrafted assumptions or are constrained by limited training data, resulting in poor generalization across diverse real-world images. Recent advancements in stable diffusion models, trained on massive data, have shown the ability to generate high-quality images with varied characteristics. Emerging evidence indicates that these models implicitly capture the relationship between camera focal length and image content. Building on this insight, we explore how to leverage the powerful priors of diffusion models for monocular pinhole camera calibration. Specifically, we introduce a new image-based representation, termed Camera Image, which losslessly encodes the numerical camera intrinsics and integrates seamlessly with the diffusion framework. Using this representation, we reformulate the problem of estimating camera intrinsics as the generation of a dense Camera Image conditioned on an input image. By fine-tuning a stable diffusion model to generate a Camera Image from a single RGB input, we can extract camera intrinsics via a RANSAC operation. We further demonstrate that our monocular calibration method enhances performance across various 3D tasks, including zero-shot metric depth estimation, 3D metrology, pose estimation and sparse-view reconstruction. Extensive experiments on multiple public datasets show that our approach significantly outperforms baselines and provides broad benefits to 3D vision tasks. Code is available at https://github.com/JunyuanDeng/DM-Calib.

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.

In phase-shifting profilometry (PSP), any motion during the acquisition of fringe patterns can introduce errors because it assumes both the object and measurement system are stationary. Therefore, we propose a method to pixel-wise reduce the errors when the measurement system is in motion due to a motorized linear stage. The proposed method introduces motion-induced error reduction algorithm, which leverages the motor's encoder and pinhole model of the camera and projector. 3D shape measurement is possible with only three fringe patterns by applying geometric constraints of the digital fringe projection system. We address the mismatch problem due to the motion-induced camera pixel disparities and reduce phase-shift errors. These processes are easy to implement and require low computational cost. Experimental results demonstrate that the presented method effectively reduces the errors even in non-uniform motion.

Line segment detection is essential for high-level tasks in computer vision and robotics. Currently, most stateof-the-art (SOTA) methods are dedicated to detecting straight line segments in undistorted pinhole images, thus distortions on fisheye or spherical images may largely degenerate their performance. Targeting at the unified line segment detection (ULSD) for both distorted and undistorted images, we propose to represent line segments with the Bezier curve model. Then the line segment detection is tackled by the Bezier curve regression with an end-to-end network, which is model-free and without any undistortion preprocessing. Experimental results on the pinhole, fisheye, and spherical image datasets validate the superiority of the proposed ULSD to the SOTA methods both in accuracy and efficiency (40.6fps for pinhole images). The source code is available at https://github.com/lh9171338/Unified-LineSegment-Detection.

Segment Anything Model 2 (SAM2) has emerged as a strong base model in various pinhole imaging segmentation tasks. However, when applying it to 360^circ domain, the significant field-of-view (FoV) gap between pinhole (70^circ times 70^circ) and panoramic images (180^circ times 360^circ) poses unique challenges. Two major concerns for this application includes 1) inevitable distortion and object deformation brought by the large FoV disparity between domains; 2) the lack of pixel-level semantic understanding that the original SAM2 cannot provide. To address these issues, we propose a novel OmniSAM framework, which makes the first attempt to apply SAM2 for panoramic semantic segmentation. Specifically, to bridge the first gap, OmniSAM first divides the panorama into sequences of patches. These patches are then treated as image sequences in similar manners as in video segmentation tasks. We then leverage the SAM2's memory mechanism to extract cross-patch correspondences that embeds the cross-FoV dependencies, improving feature continuity and the prediction consistency along mask boundaries. For the second gap, OmniSAM fine-tunes the pretrained image encoder and reutilize the mask decoder for semantic prediction. An FoV-based prototypical adaptation module with dynamic pseudo label update mechanism is also introduced to facilitate the alignment of memory and backbone features, thereby improving model generalization ability across different sizes of source models. Extensive experimental results demonstrate that OmniSAM outperforms the state-of-the-art methods by large margins, e.g., 79.06% (+10.22%) on SPin8-to-SPan8, 62.46% (+6.58%) on CS13-to-DP13.

In this paper, we present the first pinhole-fisheye framework for heterogeneous multi-view depth estimation, PFDepth. Our key insight is to exploit the complementary characteristics of pinhole and fisheye imagery (undistorted vs. distorted, small vs. large FOV, far vs. near field) for joint optimization. PFDepth employs a unified architecture capable of processing arbitrary combinations of pinhole and fisheye cameras with varied intrinsics and extrinsics. Within PFDepth, we first explicitly lift 2D features from each heterogeneous view into a canonical 3D volumetric space. Then, a core module termed Heterogeneous Spatial Fusion is designed to process and fuse distortion-aware volumetric features across overlapping and non-overlapping regions. Additionally, we subtly reformulate the conventional voxel fusion into a novel 3D Gaussian representation, in which learnable latent Gaussian spheres dynamically adapt to local image textures for finer 3D aggregation. Finally, fused volume features are rendered into multi-view depth maps. Through extensive experiments, we demonstrate that PFDepth sets a state-of-the-art performance on KITTI-360 and RealHet datasets over current mainstream depth networks. To the best of our knowledge, this is the first systematic study of heterogeneous pinhole-fisheye depth estimation, offering both technical novelty and valuable empirical insights.

Panoramic images, capturing a 360{\deg} field of view (FoV), encompass omnidirectional spatial information crucial for scene understanding. However, it is not only costly to obtain training-sufficient dense-annotated panoramas but also application-restricted when training models in a close-vocabulary setting. To tackle this problem, in this work, we define a new task termed Open Panoramic Segmentation (OPS), where models are trained with FoV-restricted pinhole images in the source domain in an open-vocabulary setting while evaluated with FoV-open panoramic images in the target domain, enabling the zero-shot open panoramic semantic segmentation ability of models. Moreover, we propose a model named OOOPS with a Deformable Adapter Network (DAN), which significantly improves zero-shot panoramic semantic segmentation performance. To further enhance the distortion-aware modeling ability from the pinhole source domain, we propose a novel data augmentation method called Random Equirectangular Projection (RERP) which is specifically designed to address object deformations in advance. Surpassing other state-of-the-art open-vocabulary semantic segmentation approaches, a remarkable performance boost on three panoramic datasets, WildPASS, Stanford2D3D, and Matterport3D, proves the effectiveness of our proposed OOOPS model with RERP on the OPS task, especially +2.2% on outdoor WildPASS and +2.4% mIoU on indoor Stanford2D3D. The source code is publicly available at https://junweizheng93.github.io/publications/OPS/OPS.html.

Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored for pinhole images with limited views, impairing their effectiveness in panoramic settings. Additionally, panoramic image distortions, such as resolution loss, geometric deformation, and uneven lighting, hinder direct adaptation of existing MOT methods, leading to significant performance degradation. To address these challenges, we propose OmniTrack, an omnidirectional MOT framework that incorporates Tracklet Management to introduce temporal cues, FlexiTrack Instances for object localization and association, and the CircularStatE Module to alleviate image and geometric distortions. This integration enables tracking in panoramic field-of-view scenarios, even under rapid sensor motion. To mitigate the lack of panoramic MOT datasets, we introduce the QuadTrack dataset--a comprehensive panoramic dataset collected by a quadruped robot, featuring diverse challenges such as panoramic fields of view, intense motion, and complex environments. Extensive experiments on the public JRDB dataset and the newly introduced QuadTrack benchmark demonstrate the state-of-the-art performance of the proposed framework. OmniTrack achieves a HOTA score of 26.92% on JRDB, representing an improvement of 3.43%, and further achieves 23.45% on QuadTrack, surpassing the baseline by 6.81%. The established dataset and source code are available at https://github.com/xifen523/OmniTrack.

360-degree images offer a significantly wider field of view compared to traditional pinhole cameras, enabling sparse sampling and dense 3D reconstruction in low-texture environments. This makes them crucial for applications in VR, AR, and related fields. However, the inherent distortion caused by the wide field of view affects feature extraction and matching, leading to geometric consistency issues in subsequent multi-view reconstruction. In this work, we propose 360Recon, an innovative MVS algorithm for ERP images. The proposed spherical feature extraction module effectively mitigates distortion effects, and by combining the constructed 3D cost volume with multi-scale enhanced features from ERP images, our approach achieves high-precision scene reconstruction while preserving local geometric consistency. Experimental results demonstrate that 360Recon achieves state-of-the-art performance and high efficiency in depth estimation and 3D reconstruction on existing public panoramic reconstruction datasets.

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.

Monocular camera calibration is a key precondition for numerous 3D vision applications. Despite considerable advancements, existing methods often hinge on specific assumptions and struggle to generalize across varied real-world scenarios, and the performance is limited by insufficient training data. Recently, diffusion models trained on expansive datasets have been confirmed to maintain the capability to generate diverse, high-quality images. This success suggests a strong potential of the models to effectively understand varied visual information. In this work, we leverage the comprehensive visual knowledge embedded in pre-trained diffusion models to enable more robust and accurate monocular camera intrinsic estimation. Specifically, we reformulate the problem of estimating the four degrees of freedom (4-DoF) of camera intrinsic parameters as a dense incident map generation task. The map details the angle of incidence for each pixel in the RGB image, and its format aligns well with the paradigm of diffusion models. The camera intrinsic then can be derived from the incident map with a simple non-learning RANSAC algorithm during inference. Moreover, to further enhance the performance, we jointly estimate a depth map to provide extra geometric information for the incident map estimation. Extensive experiments on multiple testing datasets demonstrate that our model achieves state-of-the-art performance, gaining up to a 40% reduction in prediction errors. Besides, the experiments also show that the precise camera intrinsic and depth maps estimated by our pipeline can greatly benefit practical applications such as 3D reconstruction from a single in-the-wild image.

Recent advances in deep-learning based methods for image matching have demonstrated their superiority over traditional algorithms, enabling correspondence estimation in challenging scenes with significant differences in viewing angles, illumination and weather conditions. However, the existing datasets, learning frameworks, and evaluation metrics for the deep-learning based methods are limited to ground-based images recorded with pinhole cameras and have not been explored for satellite images. In this paper, we present ``SatDepth'', a novel dataset that provides dense ground-truth correspondences for training image matching frameworks meant specifically for satellite images. Satellites capture images from various viewing angles and tracks through multiple revisits over a region. To manage this variability, we propose a dataset balancing strategy through a novel image rotation augmentation procedure. This procedure allows for the discovery of corresponding pixels even in the presence of large rotational differences between the images. We benchmark four existing image matching frameworks using our dataset and carry out an ablation study that confirms that the models trained with our dataset with rotation augmentation outperform (up to 40% increase in precision) the models trained with other datasets, especially when there exist large rotational differences between the images.

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.

The rapid advancement of diffusion models holds the promise of revolutionizing the application of VR and AR technologies, which typically require scene-level 4D assets for user experience. Nonetheless, existing diffusion models predominantly concentrate on modeling static 3D scenes or object-level dynamics, constraining their capacity to provide truly immersive experiences. To address this issue, we propose HoloTime, a framework that integrates video diffusion models to generate panoramic videos from a single prompt or reference image, along with a 360-degree 4D scene reconstruction method that seamlessly transforms the generated panoramic video into 4D assets, enabling a fully immersive 4D experience for users. Specifically, to tame video diffusion models for generating high-fidelity panoramic videos, we introduce the 360World dataset, the first comprehensive collection of panoramic videos suitable for downstream 4D scene reconstruction tasks. With this curated dataset, we propose Panoramic Animator, a two-stage image-to-video diffusion model that can convert panoramic images into high-quality panoramic videos. Following this, we present Panoramic Space-Time Reconstruction, which leverages a space-time depth estimation method to transform the generated panoramic videos into 4D point clouds, enabling the optimization of a holistic 4D Gaussian Splatting representation to reconstruct spatially and temporally consistent 4D scenes. To validate the efficacy of our method, we conducted a comparative analysis with existing approaches, revealing its superiority in both panoramic video generation and 4D scene reconstruction. This demonstrates our method's capability to create more engaging and realistic immersive environments, thereby enhancing user experiences in VR and AR applications.

Images as an artistic medium often rely on specific camera angles and lens distortions to convey ideas or emotions; however, such precise control is missing in current text-to-image models. We propose an efficient and general solution that allows precise control over the camera when generating both photographic and artistic images. Unlike prior methods that rely on predefined shots, we rely solely on four simple extrinsic and intrinsic camera parameters, removing the need for pre-existing geometry, reference 3D objects, and multi-view data. We also present a novel dataset with more than 57,000 images, along with their text prompts and ground-truth camera parameters. Our evaluation shows precise camera control in text-to-image generation, surpassing traditional prompt engineering approaches. Our data, model, and code are publicly available at https://graphics.unizar.es/projects/PreciseCam2024.

We propose a method for generating fly-through videos of a scene, from a single image and a given camera trajectory. We build upon an image-to-video latent diffusion model. We condition its UNet denoiser on the camera trajectory, using four techniques. (1) We condition the UNet's temporal blocks on raw camera extrinsics, similar to MotionCtrl. (2) We use images containing camera rays and directions, similar to CameraCtrl. (3) We reproject the initial image to subsequent frames and use the resulting video as a condition. (4) We use 2D<=>3D transformers to introduce a global 3D representation, which implicitly conditions on the camera poses. We combine all conditions in a ContolNet-style architecture. We then propose a metric that evaluates overall video quality and the ability to preserve details with view changes, which we use to analyze the trade-offs of individual and combined conditions. Finally, we identify an optimal combination of conditions. We calibrate camera positions in our datasets for scale consistency across scenes, and we train our scene exploration model, CamCtrl3D, demonstrating state-of-theart results.

We introduce pi^3, a feed-forward neural network that offers a novel approach to visual geometry reconstruction, breaking the reliance on a conventional fixed reference view. Previous methods often anchor their reconstructions to a designated viewpoint, an inductive bias that can lead to instability and failures if the reference is suboptimal. In contrast, pi^3 employs a fully permutation-equivariant architecture to predict affine-invariant camera poses and scale-invariant local point maps without any reference frames. This design makes our model inherently robust to input ordering and highly scalable. These advantages enable our simple and bias-free approach to achieve state-of-the-art performance on a wide range of tasks, including camera pose estimation, monocular/video depth estimation, and dense point map reconstruction. Code and models are publicly available.

This paper presents a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven key-feature distributions and outlier correspondences, which can potentially decrease the accuracy of an essential matrix, our method optimizes a non-rigid transformation to deform a spherical camera into a new spatial domain, defining a new constraint and a more robust and accurate solution for an essential matrix. Through several experiments using random synthetic points, 360-FoV, and fish-eye images, we demonstrate that our normalization can increase the camera pose accuracy by about 20% without significantly overhead the computation time. In addition, we present further benefits of our method through both a constant weighted least-square optimization that improves further the well known Gold Standard Method (GSM) (i.e., the non-linear optimization by using epipolar errors); and a relaxation of the number of RANSAC iterations, both showing that our normalization outcomes a more reliable, robust, and accurate solution.

Panoramic video generation enables immersive 360{\deg} content creation, valuable in applications that demand scene-consistent world exploration. However, existing panoramic video generation models struggle to leverage pre-trained generative priors from conventional text-to-video models for high-quality and diverse panoramic videos generation, due to limited dataset scale and the gap in spatial feature representations. In this paper, we introduce PanoWan to effectively lift pre-trained text-to-video models to the panoramic domain, equipped with minimal modules. PanoWan employs latitude-aware sampling to avoid latitudinal distortion, while its rotated semantic denoising and padded pixel-wise decoding ensure seamless transitions at longitude boundaries. To provide sufficient panoramic videos for learning these lifted representations, we contribute PanoVid, a high-quality panoramic video dataset with captions and diverse scenarios. Consequently, PanoWan achieves state-of-the-art performance in panoramic video generation and demonstrates robustness for zero-shot downstream tasks.

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to generalize to unseen domains even in the presence of moderate domain gaps, which hinders their practical applicability. We propose a new model, UniDepthV2, capable of reconstructing metric 3D scenes from solely single images across domains. Departing from the existing MMDE paradigm, UniDepthV2 directly predicts metric 3D points from the input image at inference time without any additional information, striving for a universal and flexible MMDE solution. In particular, UniDepthV2 implements a self-promptable camera module predicting a dense camera representation to condition depth features. Our model exploits a pseudo-spherical output representation, which disentangles the camera and depth representations. In addition, we propose a geometric invariance loss that promotes the invariance of camera-prompted depth features. UniDepthV2 improves its predecessor UniDepth model via a new edge-guided loss which enhances the localization and sharpness of edges in the metric depth outputs, a revisited, simplified and more efficient architectural design, and an additional uncertainty-level output which enables downstream tasks requiring confidence. Thorough evaluations on ten depth datasets in a zero-shot regime consistently demonstrate the superior performance and generalization of UniDepthV2. Code and models are available at https://github.com/lpiccinelli-eth/UniDepth

We present ReDirector, a novel camera-controlled video retake generation method for dynamically captured variable-length videos. In particular, we rectify a common misuse of RoPE in previous works by aligning the spatiotemporal positions of the input video and the target retake. Moreover, we introduce Rotary Camera Encoding (RoCE), a camera-conditioned RoPE phase shift that captures and integrates multi-view relationships within and across the input and target videos. By integrating camera conditions into RoPE, our method generalizes to out-of-distribution camera trajectories and video lengths, yielding improved dynamic object localization and static background preservation. Extensive experiments further demonstrate significant improvements in camera controllability, geometric consistency, and video quality across various trajectories and lengths.

The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a novel constraints-based loss for measuring the intrinsic (focal length: (f_x, f_y) and principal point: (p_x, p_y)) and extrinsic (baseline: (b), disparity: (d), translation: (t_x, t_y, t_z), and rotation specifically pitch: (theta_p)) camera parameters. Our novel constraints are based on geometric properties inherent in the camera model, including the anatomy of the projection matrix (vanishing points, image of world origin, axis planes) and the orthonormality of the rotation matrix. Thus we proposed a novel Unsupervised Geometric Constraint Loss (UGCL) via a multitask learning framework. Our methodology is a hybrid approach that employs the learning power of a neural network to estimate the desired parameters along with the underlying mathematical properties inherent in the camera projection matrix. This distinctive approach not only enhances the interpretability of the model but also facilitates a more informed learning process. Additionally, we introduce a new CVGL Camera Calibration dataset, featuring over 900 configurations of camera parameters, incorporating 63,600 image pairs that closely mirror real-world conditions. By training and testing on both synthetic and real-world datasets, our proposed approach demonstrates improvements across all parameters when compared to the state-of-the-art (SOTA) benchmarks. The code and the updated dataset can be found here: https://github.com/CVLABLUMS/CVGL-Camera-Calibration

Generating a complete and explorable 360-degree visual world enables a wide range of downstream applications. While prior works have advanced the field, they remain constrained by either narrow field-of-view limitations, which hinder the synthesis of continuous and holistic scenes, or insufficient camera controllability that restricts free exploration by users or autonomous agents. To address this, we propose PanoWorld-X, a novel framework for high-fidelity and controllable panoramic video generation with diverse camera trajectories. Specifically, we first construct a large-scale dataset of panoramic video-exploration route pairs by simulating camera trajectories in virtual 3D environments via Unreal Engine. As the spherical geometry of panoramic data misaligns with the inductive priors from conventional video diffusion, we then introduce a Sphere-Aware Diffusion Transformer architecture that reprojects equirectangular features onto the spherical surface to model geometric adjacency in latent space, significantly enhancing visual fidelity and spatiotemporal continuity. Extensive experiments demonstrate that our PanoWorld-X achieves superior performance in various aspects, including motion range, control precision, and visual quality, underscoring its potential for real-world applications.

Text-guided diffusion models have greatly advanced image editing and generation. However, achieving physically consistent image retouching with precise parameter control (e.g., exposure, white balance, zoom) remains challenging. Existing methods either rely solely on ambiguous and entangled text prompts, which hinders precise camera control, or train separate heads/weights for parameter adjustment, which compromises scalability, multi-parameter composition, and sensitivity to subtle variations. To address these limitations, we propose CameraMaster, a unified camera-aware framework for image retouching. The key idea is to explicitly decouple the camera directive and then coherently integrate two critical information streams: a directive representation that captures the photographer's intent, and a parameter embedding that encodes precise camera settings. CameraMaster first uses the camera parameter embedding to modulate both the camera directive and the content semantics. The modulated directive is then injected into the content features via cross-attention, yielding a strongly camera-sensitive semantic context. In addition, the directive and camera embeddings are injected as conditioning and gating signals into the time embedding, enabling unified, layer-wise modulation throughout the denoising process and enforcing tight semantic-parameter alignment. To train and evaluate CameraMaster, we construct a large-scale dataset of 78K image-prompt pairs annotated with camera parameters. Extensive experiments show that CameraMaster produces monotonic and near-linear responses to parameter variations, supports seamless multi-parameter composition, and significantly outperforms existing methods.

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input videos that feature predominantly static scenes with large amounts of parallax. Such methods tend to produce erroneous estimates in the absence of these conditions. Recent neural network-based approaches attempt to overcome these challenges; however, such methods are either computationally expensive or brittle when run on dynamic videos with uncontrolled camera motion or unknown field of view. We demonstrate the surprising effectiveness of a deep visual SLAM framework: with careful modifications to its training and inference schemes, this system can scale to real-world videos of complex dynamic scenes with unconstrained camera paths, including videos with little camera parallax. Extensive experiments on both synthetic and real videos demonstrate that our system is significantly more accurate and robust at camera pose and depth estimation when compared with prior and concurrent work, with faster or comparable running times. See interactive results on our project page: https://mega-sam.github.io/

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to generalize to unseen domains even in the presence of moderate domain gaps, which hinders their practical applicability. We propose a new model, UniDepth, capable of reconstructing metric 3D scenes from solely single images across domains. Departing from the existing MMDE methods, UniDepth directly predicts metric 3D points from the input image at inference time without any additional information, striving for a universal and flexible MMDE solution. In particular, UniDepth implements a self-promptable camera module predicting dense camera representation to condition depth features. Our model exploits a pseudo-spherical output representation, which disentangles camera and depth representations. In addition, we propose a geometric invariance loss that promotes the invariance of camera-prompted depth features. Thorough evaluations on ten datasets in a zero-shot regime consistently demonstrate the superior performance of UniDepth, even when compared with methods directly trained on the testing domains. Code and models are available at: https://github.com/lpiccinelli-eth/unidepth

In static monitoring cameras, useful contextual information can stretch far beyond the few seconds typical video understanding models might see: subjects may exhibit similar behavior over multiple days, and background objects remain static. Due to power and storage constraints, sampling frequencies are low, often no faster than one frame per second, and sometimes are irregular due to the use of a motion trigger. In order to perform well in this setting, models must be robust to irregular sampling rates. In this paper we propose a method that leverages temporal context from the unlabeled frames of a novel camera to improve performance at that camera. Specifically, we propose an attention-based approach that allows our model, Context R-CNN, to index into a long term memory bank constructed on a per-camera basis and aggregate contextual features from other frames to boost object detection performance on the current frame. We apply Context R-CNN to two settings: (1) species detection using camera traps, and (2) vehicle detection in traffic cameras, showing in both settings that Context R-CNN leads to performance gains over strong baselines. Moreover, we show that increasing the contextual time horizon leads to improved results. When applied to camera trap data from the Snapshot Serengeti dataset, Context R-CNN with context from up to a month of images outperforms a single-frame baseline by 17.9% mAP, and outperforms S3D (a 3d convolution based baseline) by 11.2% mAP.

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance, size, and shape-than on texture when interacting with objects. Since such 3D geometric information can be acquired from widely available depth cameras, it appears feasible to endow robots with similar perceptual capabilities. Our pilot study found that using depth cameras for manipulation is challenging, primarily due to their limited accuracy and susceptibility to various types of noise. In this work, we propose Camera Depth Models (CDMs) as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. To achieve this, we develop a neural data engine that generates high-quality paired data from simulation by modeling a depth camera's noise pattern. Our results show that CDMs achieve nearly simulation-level accuracy in depth prediction, effectively bridging the sim-to-real gap for manipulation tasks. Notably, our experiments demonstrate, for the first time, that a policy trained on raw simulated depth, without the need for adding noise or real-world fine-tuning, generalizes seamlessly to real-world robots on two challenging long-horizon tasks involving articulated, reflective, and slender objects, with little to no performance degradation. We hope our findings will inspire future research in utilizing simulation data and 3D information in general robot policies.

Generating 360-degree panoramas from narrow field of view (NFoV) image is a promising computer vision task for Virtual Reality (VR) applications. Existing methods mostly assess the generated panoramas with InceptionNet or CLIP based metrics, which tend to perceive the image quality and is not suitable for evaluating the distortion. In this work, we first propose a distortion-specific CLIP, named Distort-CLIP to accurately evaluate the panorama distortion and discover the ``visual cheating'' phenomenon in previous works (\ie, tending to improve the visual results by sacrificing distortion accuracy). This phenomenon arises because prior methods employ a single network to learn the distinct panorama distortion and content completion at once, which leads the model to prioritize optimizing the latter. To address the phenomenon, we propose PanoDecouple, a decoupled diffusion model framework, which decouples the panorama generation into distortion guidance and content completion, aiming to generate panoramas with both accurate distortion and visual appeal. Specifically, we design a DistortNet for distortion guidance by imposing panorama-specific distortion prior and a modified condition registration mechanism; and a ContentNet for content completion by imposing perspective image information. Additionally, a distortion correction loss function with Distort-CLIP is introduced to constrain the distortion explicitly. The extensive experiments validate that PanoDecouple surpasses existing methods both in distortion and visual metrics.

Omnidirectional vision, using 360-degree vision to understand the environment, has become increasingly critical across domains like robotics, industrial inspection, and environmental monitoring. Compared to traditional pinhole vision, omnidirectional vision provides holistic environmental awareness, significantly enhancing the completeness of scene perception and the reliability of decision-making. However, foundational research in this area has historically lagged behind traditional pinhole vision. This talk presents an emerging trend in the embodied AI era: the rapid development of omnidirectional vision, driven by growing industrial demand and academic interest. We highlight recent breakthroughs in omnidirectional generation, omnidirectional perception, omnidirectional understanding, and related datasets. Drawing on insights from both academia and industry, we propose an ideal panoramic system architecture in the embodied AI era, PANORAMA, which consists of four key subsystems. Moreover, we offer in-depth opinions related to emerging trends and cross-community impacts at the intersection of panoramic vision and embodied AI, along with the future roadmap and open challenges. This overview synthesizes state-of-the-art advancements and outlines challenges and opportunities for future research in building robust, general-purpose omnidirectional AI systems in the embodied AI era.

Camera localization, i.e., camera pose regression, represents an important task in computer vision since it has many practical applications such as in the context of intelligent vehicles and their localization. Having reliable estimates of the regression uncertainties is also important, as it would allow us to catch dangerous localization failures. In the literature, uncertainty estimation in Deep Neural Networks (DNNs) is often performed through sampling methods, such as Monte Carlo Dropout (MCD) and Deep Ensemble (DE), at the expense of undesirable execution time or an increase in hardware resources. In this work, we considered an uncertainty estimation approach named Deep Evidential Regression (DER) that avoids any sampling technique, providing direct uncertainty estimates. Our goal is to provide a systematic approach to intercept localization failures of camera localization systems based on DNNs architectures, by analyzing the generated uncertainties. We propose to exploit CMRNet, a DNN approach for multi-modal image to LiDAR map registration, by modifying its internal configuration to allow for extensive experimental activity on the KITTI dataset. The experimental section highlights CMRNet's major flaws and proves that our proposal does not compromise the original localization performances but also provides, at the same time, the necessary introspection measures that would allow end-users to act accordingly.

Recent breakthroughs in video generation, powered by large-scale datasets and diffusion techniques, have shown that video diffusion models can function as implicit 4D novel view synthesizers. Nevertheless, current methods primarily concentrate on redirecting camera trajectory within the front view while struggling to generate 360-degree viewpoint changes. In this paper, we focus on human-centric subdomain and present MV-Performer, an innovative framework for creating synchronized novel view videos from monocular full-body captures. To achieve a 360-degree synthesis, we extensively leverage the MVHumanNet dataset and incorporate an informative condition signal. Specifically, we use the camera-dependent normal maps rendered from oriented partial point clouds, which effectively alleviate the ambiguity between seen and unseen observations. To maintain synchronization in the generated videos, we propose a multi-view human-centric video diffusion model that fuses information from the reference video, partial rendering, and different viewpoints. Additionally, we provide a robust inference procedure for in-the-wild video cases, which greatly mitigates the artifacts induced by imperfect monocular depth estimation. Extensive experiments on three datasets demonstrate our MV-Performer's state-of-the-art effectiveness and robustness, setting a strong model for human-centric 4D novel view synthesis.

Explorable 3D world generation from a single image or text prompt forms a cornerstone of spatial intelligence. Recent works utilize video model to achieve wide-scope and generalizable 3D world generation. However, existing approaches often suffer from a limited scope in the generated scenes. In this work, we propose Matrix-3D, a framework that utilize panoramic representation for wide-coverage omnidirectional explorable 3D world generation that combines conditional video generation and panoramic 3D reconstruction. We first train a trajectory-guided panoramic video diffusion model that employs scene mesh renders as condition, to enable high-quality and geometrically consistent scene video generation. To lift the panorama scene video to 3D world, we propose two separate methods: (1) a feed-forward large panorama reconstruction model for rapid 3D scene reconstruction and (2) an optimization-based pipeline for accurate and detailed 3D scene reconstruction. To facilitate effective training, we also introduce the Matrix-Pano dataset, the first large-scale synthetic collection comprising 116K high-quality static panoramic video sequences with depth and trajectory annotations. Extensive experiments demonstrate that our proposed framework achieves state-of-the-art performance in panoramic video generation and 3D world generation. See more in https://matrix-3d.github.io.

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The exact definitions of maps, however, are often application-specific and hand-crafted for different scenarios (e.g. 3D landmarks, lines, planes, bags of visual words). We propose to represent maps as a deep neural net called MapNet, which enables learning a data-driven map representation. Unlike prior work on learning maps, MapNet exploits cheap and ubiquitous sensory inputs like visual odometry and GPS in addition to images and fuses them together for camera localization. Geometric constraints expressed by these inputs, which have traditionally been used in bundle adjustment or pose-graph optimization, are formulated as loss terms in MapNet training and also used during inference. In addition to directly improving localization accuracy, this allows us to update the MapNet (i.e., maps) in a self-supervised manner using additional unlabeled video sequences from the scene. We also propose a novel parameterization for camera rotation which is better suited for deep-learning based camera pose regression. Experimental results on both the indoor 7-Scenes dataset and the outdoor Oxford RobotCar dataset show significant performance improvement over prior work. The MapNet project webpage is https://goo.gl/mRB3Au.

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.

Most novel view synthesis methods such as NeRF are unable to capture the true high dynamic range (HDR) radiance of scenes since they are typically trained on photos captured with standard low dynamic range (LDR) cameras. While the traditional exposure bracketing approach which captures several images at different exposures has recently been adapted to the multi-view case, we find such methods to fall short of capturing the full dynamic range of indoor scenes, which includes very bright light sources. In this paper, we present PanDORA: a PANoramic Dual-Observer Radiance Acquisition system for the casual capture of indoor scenes in high dynamic range. Our proposed system comprises two 360{\deg} cameras rigidly attached to a portable tripod. The cameras simultaneously acquire two 360{\deg} videos: one at a regular exposure and the other at a very fast exposure, allowing a user to simply wave the apparatus casually around the scene in a matter of minutes. The resulting images are fed to a NeRF-based algorithm that reconstructs the scene's full high dynamic range. Compared to HDR baselines from previous work, our approach reconstructs the full HDR radiance of indoor scenes without sacrificing the visual quality while retaining the ease of capture from recent NeRF-like approaches.

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.

This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D, and the speed of the camera. In other words, this transformation generates a lookup image that remains invariant despite the changing projection of the 3D scene and camera motion. In the new domain, projections of 3D points that deviate from the values of the predefined lookup image can be clearly identified as moving relative to the stationary 3D environment, making them seamlessly detectable. The method does not require prior knowledge of the direction of motion or speed of the camera, nor does it necessitate 3D point range information. It is well-suited for real-time parallel processing, rendering it highly practical for implementation. We have validated the effectiveness of the new domain through simulations and experiments, demonstrating its robustness in scenarios involving rectilinear camera motion, both in simulations and with real-world data. This approach introduces new ways for moving objects detection during camera motion, and also lays the foundation for future research in the context of moving object detection during six-degrees-of-freedom camera motion.

We introduce "ImageDream," an innovative image-prompt, multi-view diffusion model for 3D object generation. ImageDream stands out for its ability to produce 3D models of higher quality compared to existing state-of-the-art, image-conditioned methods. Our approach utilizes a canonical camera coordination for the objects in images, improving visual geometry accuracy. The model is designed with various levels of control at each block inside the diffusion model based on the input image, where global control shapes the overall object layout and local control fine-tunes the image details. The effectiveness of ImageDream is demonstrated through extensive evaluations using a standard prompt list. For more information, visit our project page at https://Image-Dream.github.io.

As it is hard to calibrate single-view RGB images in the wild, existing 3D human mesh reconstruction (3DHMR) methods either use a constant large focal length or estimate one based on the background environment context, which can not tackle the problem of the torso, limb, hand or face distortion caused by perspective camera projection when the camera is close to the human body. The naive focal length assumptions can harm this task with the incorrectly formulated projection matrices. To solve this, we propose Zolly, the first 3DHMR method focusing on perspective-distorted images. Our approach begins with analysing the reason for perspective distortion, which we find is mainly caused by the relative location of the human body to the camera center. We propose a new camera model and a novel 2D representation, termed distortion image, which describes the 2D dense distortion scale of the human body. We then estimate the distance from distortion scale features rather than environment context features. Afterwards, we integrate the distortion feature with image features to reconstruct the body mesh. To formulate the correct projection matrix and locate the human body position, we simultaneously use perspective and weak-perspective projection loss. Since existing datasets could not handle this task, we propose the first synthetic dataset PDHuman and extend two real-world datasets tailored for this task, all containing perspective-distorted human images. Extensive experiments show that Zolly outperforms existing state-of-the-art methods on both perspective-distorted datasets and the standard benchmark (3DPW).

The multi-camera vehicle tracking (MCVT) framework holds significant potential for smart city applications, including anomaly detection, traffic density estimation, and suspect vehicle tracking. However, current publicly available datasets exhibit limitations, such as overly simplistic scenarios, low-resolution footage, and insufficiently diverse conditions, creating a considerable gap between academic research and real-world scenario. To fill this gap, we introduce RoundaboutHD, a comprehensive, high-resolution multi-camera vehicle tracking benchmark dataset specifically designed to represent real-world roundabout scenarios. RoundaboutHD provides a total of 40 minutes of labelled video footage captured by four non-overlapping, high-resolution (4K resolution, 15 fps) cameras. In total, 512 unique vehicle identities are annotated across different camera views, offering rich cross-camera association data. RoundaboutHD offers temporal consistency video footage and enhanced challenges, including increased occlusions and nonlinear movement inside the roundabout. In addition to the full MCVT dataset, several subsets are also available for object detection, single camera tracking, and image-based vehicle re-identification (ReID) tasks. Vehicle model information and camera modelling/ geometry information are also included to support further analysis. We provide baseline results for vehicle detection, single-camera tracking, image-based vehicle re-identification, and multi-camera tracking. The dataset and the evaluation code are publicly available at: https://github.com/siri-rouser/RoundaboutHD.git

This paper presents a NeRF-based framework for point cloud (PCD) reconstruction, specifically designed for indoor high-throughput plant phenotyping facilities. Traditional NeRF-based reconstruction methods require cameras to move around stationary objects, but this approach is impractical for high-throughput environments where objects are rapidly imaged while moving on conveyors or rotating pedestals. To address this limitation, we develop a variant of NeRF-based PCD reconstruction that uses a single stationary camera to capture images as the object rotates on a pedestal. Our workflow comprises COLMAP-based pose estimation, a straightforward pose transformation to simulate camera movement, and subsequent standard NeRF training. A defined Region of Interest (ROI) excludes irrelevant scene data, enabling the generation of high-resolution point clouds (10M points). Experimental results demonstrate excellent reconstruction fidelity, with precision-recall analyses yielding an F-score close to 100.00 across all evaluated plant objects. Although pose estimation remains computationally intensive with a stationary camera setup, overall training and reconstruction times are competitive, validating the method's feasibility for practical high-throughput indoor phenotyping applications. Our findings indicate that high-quality NeRF-based 3D reconstructions are achievable using a stationary camera, eliminating the need for complex camera motion or costly imaging equipment. This approach is especially beneficial when employing expensive and delicate instruments, such as hyperspectral cameras, for 3D plant phenotyping. Future work will focus on optimizing pose estimation techniques and further streamlining the methodology to facilitate seamless integration into automated, high-throughput 3D phenotyping pipelines.

We propose a novel method to estimate a driver's points-of-gaze using a pair of ordinary cameras mounted on the windshield and dashboard of a car. This is a challenging problem due to the dynamics of traffic environments with 3D scenes of unknown depths. This problem is further complicated by the volatile distance between the driver and the camera system. To tackle these challenges, we develop a novel convolutional network that simultaneously analyzes the image of the scene and the image of the driver's face. This network has a camera calibration module that can compute an embedding vector that represents the spatial configuration between the driver and the camera system. This calibration module improves the overall network's performance, which can be jointly trained end to end. We also address the lack of annotated data for training and evaluation by introducing a large-scale driving dataset with point-of-gaze annotations. This is an in situ dataset of real driving sessions in an urban city, containing synchronized images of the driving scene as well as the face and gaze of the driver. Experiments on this dataset show that the proposed method outperforms various baseline methods, having the mean prediction error of 29.69 pixels, which is relatively small compared to the 1280{times}720 resolution of the scene camera.

Single-view novel view synthesis, the task of generating images from new viewpoints based on a single reference image, is an important but challenging task in computer vision. Recently, Denoising Diffusion Probabilistic Model (DDPM) has become popular in this area due to its strong ability to generate high-fidelity images. However, current diffusion-based methods directly rely on camera pose matrices as viewing conditions, globally and implicitly introducing 3D constraints. These methods may suffer from inconsistency among generated images from different perspectives, especially in regions with intricate textures and structures. In this work, we present Light Field Diffusion (LFD), a conditional diffusion-based model for single-view novel view synthesis. Unlike previous methods that employ camera pose matrices, LFD transforms the camera view information into light field encoding and combines it with the reference image. This design introduces local pixel-wise constraints within the diffusion models, thereby encouraging better multi-view consistency. Experiments on several datasets show that our LFD can efficiently generate high-fidelity images and maintain better 3D consistency even in intricate regions. Our method can generate images with higher quality than NeRF-based models, and we obtain sample quality similar to other diffusion-based models but with only one-third of the model size.

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention has been given to their use in absolute pose estimation. We introduce the first general solution to the problem of estimating the pose of a calibrated camera given a single observation of an oriented point and an affine correspondence. The advantage of our approach (P1AC) is that it requires only a single correspondence, in comparison to the traditional point-based approach (P3P), significantly reducing the combinatorics in robust estimation. P1AC provides a general solution that removes restrictive assumptions made in prior work and is applicable to large-scale image-based localization. We propose a minimal solution to the P1AC problem and evaluate our novel solver on synthetic data, showing its numerical stability and performance under various types of noise. On standard image-based localization benchmarks we show that P1AC achieves more accurate results than the widely used P3P algorithm. Code for our method is available at https://github.com/jonathanventura/P1AC/ .

Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time novel view synthesis (NVS) with impressive quality in indoor scenes. However, achieving high-fidelity rendering requires meticulously captured images covering the entire scene, limiting accessibility for general users. We aim to develop a practical 3DGS-based NVS framework using simple panorama-style motion with a handheld camera (e.g., mobile device). While convenient, this rotation-dominant motion and narrow baseline make accurate camera pose and 3D point estimation challenging, especially in textureless indoor scenes. To address these challenges, we propose LighthouseGS, a novel framework inspired by the lighthouse-like sweeping motion of panoramic views. LighthouseGS leverages rough geometric priors, such as mobile device camera poses and monocular depth estimation, and utilizes the planar structures often found in indoor environments. We present a new initialization method called plane scaffold assembly to generate consistent 3D points on these structures, followed by a stable pruning strategy to enhance geometry and optimization stability. Additionally, we introduce geometric and photometric corrections to resolve inconsistencies from motion drift and auto-exposure in mobile devices. Tested on collected real and synthetic indoor scenes, LighthouseGS delivers photorealistic rendering, surpassing state-of-the-art methods and demonstrating the potential for panoramic view synthesis and object placement.

The increasing demand for AR/VR applications has highlighted the need for high-quality 360-degree panoramic content. However, generating high-quality 360-degree panoramic images and videos remains a challenging task due to the severe distortions introduced by equirectangular projection (ERP). Existing approaches either fine-tune pretrained diffusion models on limited ERP datasets or attempt tuning-free methods that still rely on ERP latent representations, leading to discontinuities near the poles. In this paper, we introduce SphereDiff, a novel approach for seamless 360-degree panoramic image and video generation using state-of-the-art diffusion models without additional tuning. We define a spherical latent representation that ensures uniform distribution across all perspectives, mitigating the distortions inherent in ERP. We extend MultiDiffusion to spherical latent space and propose a spherical latent sampling method to enable direct use of pretrained diffusion models. Moreover, we introduce distortion-aware weighted averaging to further improve the generation quality in the projection process. Our method outperforms existing approaches in generating 360-degree panoramic content while maintaining high fidelity, making it a robust solution for immersive AR/VR applications. The code is available here. https://github.com/pmh9960/SphereDiff

Lensless imaging stands out as a promising alternative to conventional lens-based systems, particularly in scenarios demanding ultracompact form factors and cost-effective architectures. However, such systems are fundamentally governed by the Point Spread Function (PSF), which dictates how a point source contributes to the final captured signal. Traditional lensless techniques often require explicit calibrations and extensive pre-processing, relying on static or approximate PSF models. These rigid strategies can result in limited adaptability to real-world challenges, including noise, system imperfections, and dynamic scene variations, thus impeding high-fidelity reconstruction. In this paper, we propose LensNet, an end-to-end deep learning framework that integrates spatial-domain and frequency-domain representations in a unified pipeline. Central to our approach is a learnable Coded Mask Simulator (CMS) that enables dynamic, data-driven estimation of the PSF during training, effectively mitigating the shortcomings of fixed or sparsely calibrated kernels. By embedding a Wiener filtering component, LensNet refines global structure and restores fine-scale details, thus alleviating the dependency on multiple handcrafted pre-processing steps. Extensive experiments demonstrate LensNet's robust performance and superior reconstruction quality compared to state-of-the-art methods, particularly in preserving high-frequency details and attenuating noise. The proposed framework establishes a novel convergence between physics-based modeling and data-driven learning, paving the way for more accurate, flexible, and practical lensless imaging solutions for applications ranging from miniature sensors to medical diagnostics. The link of code is https://github.com/baijiesong/Lensnet.

This is a technical report on the 360-degree panoramic image generation task based on diffusion models. Unlike ordinary 2D images, 360-degree panoramic images capture the entire 360^circtimes 180^circ field of view. So the rightmost and the leftmost sides of the 360 panoramic image should be continued, which is the main challenge in this field. However, the current diffusion pipeline is not appropriate for generating such a seamless 360-degree panoramic image. To this end, we propose a circular blending strategy on both the denoising and VAE decoding stages to maintain the geometry continuity. Based on this, we present two models for Text-to-360-panoramas and Single-Image-to-360-panoramas tasks. The code has been released as an open-source project at https://github.com/ArcherFMY/SD-T2I-360PanoImage{https://github.com/ArcherFMY/SD-T2I-360PanoImage} and https://www.modelscope.cn/models/damo/cv_diffusion_text-to-360panorama-image_generation/summary{ModelScope}

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can serve as a powerful and light-weight input for a wide range of downstream tasks requiring 3D information. While panoramic images can easily capture the surrounding context from commodity devices, the estimated depth shares the limitations of conventional image-based depth estimation; the performance deteriorates under large domain shifts and the absolute values are still ambiguous to infer from 2D observations. By taking advantage of the holistic view, we mitigate such effects in a self-supervised way and fine-tune the network with geometric consistency during the test phase. Specifically, we construct a 3D point cloud from the current depth prediction and project the point cloud at various viewpoints or apply stretches on the current input image to generate synthetic panoramas. Then we minimize the discrepancy of the 3D structure estimated from synthetic images without collecting additional data. We empirically evaluate our method in robot navigation and map-free localization where our method shows large performance enhancements. Our calibration method can therefore widen the applicability under various external conditions, serving as a key component for practical panorama-based machine vision systems.

Most existing video diffusion models (VDMs) are limited to mere text conditions. Thereby, they are usually lacking in control over visual appearance and geometry structure of the generated videos. This work presents Moonshot, a new video generation model that conditions simultaneously on multimodal inputs of image and text. The model builts upon a core module, called multimodal video block (MVB), which consists of conventional spatialtemporal layers for representing video features, and a decoupled cross-attention layer to address image and text inputs for appearance conditioning. In addition, we carefully design the model architecture such that it can optionally integrate with pre-trained image ControlNet modules for geometry visual conditions, without needing of extra training overhead as opposed to prior methods. Experiments show that with versatile multimodal conditioning mechanisms, Moonshot demonstrates significant improvement on visual quality and temporal consistency compared to existing models. In addition, the model can be easily repurposed for a variety of generative applications, such as personalized video generation, image animation and video editing, unveiling its potential to serve as a fundamental architecture for controllable video generation. Models will be made public on https://github.com/salesforce/LAVIS.

In this paper, we present a new method for multi-view geometric reconstruction. In recent years, large vision models have rapidly developed, performing excellently across various tasks and demonstrating remarkable generalization capabilities. Some works use large vision models for monocular depth estimation, which have been applied to facilitate multi-view reconstruction tasks in an indirect manner. Due to the ambiguity of the monocular depth estimation task, the estimated depth values are usually not accurate enough, limiting their utility in aiding multi-view reconstruction. We propose to incorporate SfM information, a strong multi-view prior, into the depth estimation process, thus enhancing the quality of depth prediction and enabling their direct application in multi-view geometric reconstruction. Experimental results on public real-world datasets show that our method significantly improves the quality of depth estimation compared to previous monocular depth estimation works. Additionally, we evaluate the reconstruction quality of our approach in various types of scenes including indoor, streetscape, and aerial views, surpassing state-of-the-art MVS methods. The code and supplementary materials are available at https://zju3dv.github.io/murre/ .

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.

Camera-centric understanding and generation are two cornerstones of spatial intelligence, yet they are typically studied in isolation. We present Puffin, a unified camera-centric multimodal model that extends spatial awareness along the camera dimension. Puffin integrates language regression and diffusion-based generation to interpret and create scenes from arbitrary viewpoints. To bridge the modality gap between cameras and vision-language, we introduce a novel paradigm that treats camera as language, enabling thinking with camera. This guides the model to align spatially grounded visual cues with photographic terminology while reasoning across geometric context. Puffin is trained on Puffin-4M, a large-scale dataset of 4 million vision-language-camera triplets. We incorporate both global camera parameters and pixel-wise camera maps, yielding flexible and reliable spatial generation. Experiments demonstrate Puffin superior performance over specialized models for camera-centric generation and understanding. With instruction tuning, Puffin generalizes to diverse cross-view tasks such as spatial imagination, world exploration, and photography guidance. We will release the code, models, dataset pipeline, and benchmark to advance multimodal spatial intelligence research.

Panoramic video generation has attracted growing attention due to its applications in virtual reality and immersive media. However, existing methods lack explicit motion control and struggle to generate scenes with large and complex motions. We propose PanFlow, a novel approach that exploits the spherical nature of panoramas to decouple the highly dynamic camera rotation from the input optical flow condition, enabling more precise control over large and dynamic motions. We further introduce a spherical noise warping strategy to promote loop consistency in motion across panorama boundaries. To support effective training, we curate a large-scale, motion-rich panoramic video dataset with frame-level pose and flow annotations. We also showcase the effectiveness of our method in various applications, including motion transfer and video editing. Extensive experiments demonstrate that PanFlow significantly outperforms prior methods in motion fidelity, visual quality, and temporal coherence. Our code, dataset, and models are available at https://github.com/chengzhag/PanFlow.

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.

Recent advancements in video diffusion models have shown exceptional abilities in simulating real-world dynamics and maintaining 3D consistency. This progress inspires us to investigate the potential of these models to ensure dynamic consistency across various viewpoints, a highly desirable feature for applications such as virtual filming. Unlike existing methods focused on multi-view generation of single objects for 4D reconstruction, our interest lies in generating open-world videos from arbitrary viewpoints, incorporating 6 DoF camera poses. To achieve this, we propose a plug-and-play module that enhances a pre-trained text-to-video model for multi-camera video generation, ensuring consistent content across different viewpoints. Specifically, we introduce a multi-view synchronization module to maintain appearance and geometry consistency across these viewpoints. Given the scarcity of high-quality training data, we design a hybrid training scheme that leverages multi-camera images and monocular videos to supplement Unreal Engine-rendered multi-camera videos. Furthermore, our method enables intriguing extensions, such as re-rendering a video from novel viewpoints. We also release a multi-view synchronized video dataset, named SynCamVideo-Dataset. Project page: https://jianhongbai.github.io/SynCamMaster/.

In this paper, we present SPVLoc, a global indoor localization method that accurately determines the six-dimensional (6D) camera pose of a query image and requires minimal scene-specific prior knowledge and no scene-specific training. Our approach employs a novel matching procedure to localize the perspective camera's viewport, given as an RGB image, within a set of panoramic semantic layout representations of the indoor environment. The panoramas are rendered from an untextured 3D reference model, which only comprises approximate structural information about room shapes, along with door and window annotations. We demonstrate that a straightforward convolutional network structure can successfully achieve image-to-panorama and ultimately image-to-model matching. Through a viewport classification score, we rank reference panoramas and select the best match for the query image. Then, a 6D relative pose is estimated between the chosen panorama and query image. Our experiments demonstrate that this approach not only efficiently bridges the domain gap but also generalizes well to previously unseen scenes that are not part of the training data. Moreover, it achieves superior localization accuracy compared to the state of the art methods and also estimates more degrees of freedom of the camera pose. Our source code is publicly available at https://fraunhoferhhi.github.io/spvloc .

We present a unified framework capable of solving a broad range of 3D tasks. Our approach features a stateful recurrent model that continuously updates its state representation with each new observation. Given a stream of images, this evolving state can be used to generate metric-scale pointmaps (per-pixel 3D points) for each new input in an online fashion. These pointmaps reside within a common coordinate system, and can be accumulated into a coherent, dense scene reconstruction that updates as new images arrive. Our model, called CUT3R (Continuous Updating Transformer for 3D Reconstruction), captures rich priors of real-world scenes: not only can it predict accurate pointmaps from image observations, but it can also infer unseen regions of the scene by probing at virtual, unobserved views. Our method is simple yet highly flexible, naturally accepting varying lengths of images that may be either video streams or unordered photo collections, containing both static and dynamic content. We evaluate our method on various 3D/4D tasks and demonstrate competitive or state-of-the-art performance in each. Project Page: https://cut3r.github.io/

In this paper, we present PanoDreamer, a novel method for producing a coherent 360^circ 3D scene from a single input image. Unlike existing methods that generate the scene sequentially, we frame the problem as single-image panorama and depth estimation. Once the coherent panoramic image and its corresponding depth are obtained, the scene can be reconstructed by inpainting the small occluded regions and projecting them into 3D space. Our key contribution is formulating single-image panorama and depth estimation as two optimization tasks and introducing alternating minimization strategies to effectively solve their objectives. We demonstrate that our approach outperforms existing techniques in single-image 360^circ scene reconstruction in terms of consistency and overall quality.

Generating complete 360-degree panoramas from narrow field of view images is ongoing research as omnidirectional RGB data is not readily available. Existing GAN-based approaches face some barriers to achieving higher quality output, and have poor generalization performance over different mask types. In this paper, we present our 360-degree indoor RGB-D panorama outpainting model using latent diffusion models (LDM), called PanoDiffusion. We introduce a new bi-modal latent diffusion structure that utilizes both RGB and depth panoramic data during training, which works surprisingly well to outpaint depth-free RGB images during inference. We further propose a novel technique of introducing progressive camera rotations during each diffusion denoising step, which leads to substantial improvement in achieving panorama wraparound consistency. Results show that our PanoDiffusion not only significantly outperforms state-of-the-art methods on RGB-D panorama outpainting by producing diverse well-structured results for different types of masks, but can also synthesize high-quality depth panoramas to provide realistic 3D indoor models.

The increasing demand for immersive AR/VR applications and spatial intelligence has heightened the need to generate high-quality scene-level and 360{\deg} panoramic video. However, most video diffusion models are constrained by limited resolution and aspect ratio, which restricts their applicability to scene-level dynamic content synthesis. In this work, we propose the DynamicScaler, addressing these challenges by enabling spatially scalable and panoramic dynamic scene synthesis that preserves coherence across panoramic scenes of arbitrary size. Specifically, we introduce a Offset Shifting Denoiser, facilitating efficient, synchronous, and coherent denoising panoramic dynamic scenes via a diffusion model with fixed resolution through a seamless rotating Window, which ensures seamless boundary transitions and consistency across the entire panoramic space, accommodating varying resolutions and aspect ratios. Additionally, we employ a Global Motion Guidance mechanism to ensure both local detail fidelity and global motion continuity. Extensive experiments demonstrate our method achieves superior content and motion quality in panoramic scene-level video generation, offering a training-free, efficient, and scalable solution for immersive dynamic scene creation with constant VRAM consumption regardless of the output video resolution. Our project page is available at https://dynamic-scaler.pages.dev/.

We present WinT3R, a feed-forward reconstruction model capable of online prediction of precise camera poses and high-quality point maps. Previous methods suffer from a trade-off between reconstruction quality and real-time performance. To address this, we first introduce a sliding window mechanism that ensures sufficient information exchange among frames within the window, thereby improving the quality of geometric predictions without large computation. In addition, we leverage a compact representation of cameras and maintain a global camera token pool, which enhances the reliability of camera pose estimation without sacrificing efficiency. These designs enable WinT3R to achieve state-of-the-art performance in terms of online reconstruction quality, camera pose estimation, and reconstruction speed, as validated by extensive experiments on diverse datasets. Code and model are publicly available at https://github.com/LiZizun/WinT3R.

The blooming of virtual reality and augmented reality (VR/AR) technologies has driven an increasing demand for the creation of high-quality, immersive, and dynamic environments. However, existing generative techniques either focus solely on dynamic objects or perform outpainting from a single perspective image, failing to meet the needs of VR/AR applications. In this work, we tackle the challenging task of elevating a single panorama to an immersive 4D experience. For the first time, we demonstrate the capability to generate omnidirectional dynamic scenes with 360-degree views at 4K resolution, thereby providing an immersive user experience. Our method introduces a pipeline that facilitates natural scene animations and optimizes a set of 4D Gaussians using efficient splatting techniques for real-time exploration. To overcome the lack of scene-scale annotated 4D data and models, especially in panoramic formats, we propose a novel Panoramic Denoiser that adapts generic 2D diffusion priors to animate consistently in 360-degree images, transforming them into panoramic videos with dynamic scenes at targeted regions. Subsequently, we elevate the panoramic video into a 4D immersive environment while preserving spatial and temporal consistency. By transferring prior knowledge from 2D models in the perspective domain to the panoramic domain and the 4D lifting with spatial appearance and geometry regularization, we achieve high-quality Panorama-to-4D generation at a resolution of (4096 times 2048) for the first time. See the project website at https://4k4dgen.github.io.

Fisheye cameras are commonly used in applications like autonomous driving and surveillance to provide a large field of view (>180^{circ}). However, they come at the cost of strong non-linear distortions which require more complex algorithms. In this paper, we explore Euclidean distance estimation on fisheye cameras for automotive scenes. Obtaining accurate and dense depth supervision is difficult in practice, but self-supervised learning approaches show promising results and could potentially overcome the problem. We present a novel self-supervised scale-aware framework for learning Euclidean distance and ego-motion from raw monocular fisheye videos without applying rectification. While it is possible to perform piece-wise linear approximation of fisheye projection surface and apply standard rectilinear models, it has its own set of issues like re-sampling distortion and discontinuities in transition regions. To encourage further research in this area, we will release our dataset as part of the WoodScape project yogamani2019woodscape. We further evaluated the proposed algorithm on the KITTI dataset and obtained state-of-the-art results comparable to other self-supervised monocular methods. Qualitative results on an unseen fisheye video demonstrate impressive performance https://youtu.be/Sgq1WzoOmXg.

Estimating human and camera trajectories with accurate scale in the world coordinate system from a monocular video is a highly desirable yet challenging and ill-posed problem. In this study, we aim to recover expressive parametric human models (i.e., SMPL-X) and corresponding camera poses jointly, by leveraging the synergy between three critical players: the world, the human, and the camera. Our approach is founded on two key observations. Firstly, camera-frame SMPL-X estimation methods readily recover absolute human depth. Secondly, human motions inherently provide absolute spatial cues. By integrating these insights, we introduce a novel framework, referred to as WHAC, to facilitate world-grounded expressive human pose and shape estimation (EHPS) alongside camera pose estimation, without relying on traditional optimization techniques. Additionally, we present a new synthetic dataset, WHAC-A-Mole, which includes accurately annotated humans and cameras, and features diverse interactive human motions as well as realistic camera trajectories. Extensive experiments on both standard and newly established benchmarks highlight the superiority and efficacy of our framework. We will make the code and dataset publicly available.

Selective state space models (SSMs), such as Mamba, highly excel at capturing long-range dependencies in 1D sequential data, while their applications to 2D vision tasks still face challenges. Current visual SSMs often convert images into 1D sequences and employ various scanning patterns to incorporate local spatial dependencies. However, these methods are limited in effectively capturing the complex image spatial structures and the increased computational cost caused by the lengthened scanning paths. To address these limitations, we propose Spatial-Mamba, a novel approach that establishes neighborhood connectivity directly in the state space. Instead of relying solely on sequential state transitions, we introduce a structure-aware state fusion equation, which leverages dilated convolutions to capture image spatial structural dependencies, significantly enhancing the flow of visual contextual information. Spatial-Mamba proceeds in three stages: initial state computation in a unidirectional scan, spatial context acquisition through structure-aware state fusion, and final state computation using the observation equation. Our theoretical analysis shows that Spatial-Mamba unifies the original Mamba and linear attention under the same matrix multiplication framework, providing a deeper understanding of our method. Experimental results demonstrate that Spatial-Mamba, even with a single scan, attains or surpasses the state-of-the-art SSM-based models in image classification, detection and segmentation. Source codes and trained models can be found at https://github.com/EdwardChasel/Spatial-Mamba.

Reconstructing accurate 3D scenes from images is a long-standing vision task. Due to the ill-posedness of the single-image reconstruction problem, most well-established methods are built upon multi-view geometry. State-of-the-art (SOTA) monocular metric depth estimation methods can only handle a single camera model and are unable to perform mixed-data training due to the metric ambiguity. Meanwhile, SOTA monocular methods trained on large mixed datasets achieve zero-shot generalization by learning affine-invariant depths, which cannot recover real-world metrics. In this work, we show that the key to a zero-shot single-view metric depth model lies in the combination of large-scale data training and resolving the metric ambiguity from various camera models. We propose a canonical camera space transformation module, which explicitly addresses the ambiguity problems and can be effortlessly plugged into existing monocular models. Equipped with our module, monocular models can be stably trained with over 8 million images with thousands of camera models, resulting in zero-shot generalization to in-the-wild images with unseen camera settings. Experiments demonstrate SOTA performance of our method on 7 zero-shot benchmarks. Notably, our method won the championship in the 2nd Monocular Depth Estimation Challenge. Our method enables the accurate recovery of metric 3D structures on randomly collected internet images, paving the way for plausible single-image metrology. The potential benefits extend to downstream tasks, which can be significantly improved by simply plugging in our model. For example, our model relieves the scale drift issues of monocular-SLAM (Fig. 1), leading to high-quality metric scale dense mapping. The code is available at https://github.com/YvanYin/Metric3D.

Existing methods detect the keypoints in a non-differentiable way, therefore they can not directly optimize the position of keypoints through back-propagation. To address this issue, we present a partially differentiable keypoint detection module, which outputs accurate sub-pixel keypoints. The reprojection loss is then proposed to directly optimize these sub-pixel keypoints, and the dispersity peak loss is presented for accurate keypoints regularization. We also extract the descriptors in a sub-pixel way, and they are trained with the stable neural reprojection error loss. Moreover, a lightweight network is designed for keypoint detection and descriptor extraction, which can run at 95 frames per second for 640x480 images on a commercial GPU. On homography estimation, camera pose estimation, and visual (re-)localization tasks, the proposed method achieves equivalent performance with the state-of-the-art approaches, while greatly reduces the inference time.

3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional pipelines like Structure from Motion (SfM) and Multi-View Stereo (MVS) achieve high precision through iterative optimization, they are limited by complex workflows, high computational cost, and poor robustness in challenging scenarios like texture-less regions. Recently, deep learning has catalyzed a paradigm shift in 3D reconstruction. A new family of models, exemplified by DUSt3R, has pioneered a feed-forward approach. These models employ a unified deep network to jointly infer camera poses and dense geometry directly from an Unconstrained set of images in a single forward pass. This survey provides a systematic review of this emerging domain. We begin by dissecting the technical framework of these feed-forward models, including their Transformer-based correspondence modeling, joint pose and geometry regression mechanisms, and strategies for scaling from two-view to multi-view scenarios. To highlight the disruptive nature of this new paradigm, we contrast it with both traditional pipelines and earlier learning-based methods like MVSNet. Furthermore, we provide an overview of relevant datasets and evaluation metrics. Finally, we discuss the technology's broad application prospects and identify key future challenges and opportunities, such as model accuracy and scalability, and handling dynamic scenes.

We present 3D Cinemagraphy, a new technique that marries 2D image animation with 3D photography. Given a single still image as input, our goal is to generate a video that contains both visual content animation and camera motion. We empirically find that naively combining existing 2D image animation and 3D photography methods leads to obvious artifacts or inconsistent animation. Our key insight is that representing and animating the scene in 3D space offers a natural solution to this task. To this end, we first convert the input image into feature-based layered depth images using predicted depth values, followed by unprojecting them to a feature point cloud. To animate the scene, we perform motion estimation and lift the 2D motion into the 3D scene flow. Finally, to resolve the problem of hole emergence as points move forward, we propose to bidirectionally displace the point cloud as per the scene flow and synthesize novel views by separately projecting them into target image planes and blending the results. Extensive experiments demonstrate the effectiveness of our method. A user study is also conducted to validate the compelling rendering results of our method.

The flat lensless camera design reduces the camera size and weight significantly. In this design, the camera lens is replaced by another optical element that interferes with the incoming light. The image is recovered from the raw sensor measurements using a reconstruction algorithm. Yet, the quality of the reconstructed images is not satisfactory. To mitigate this, we propose utilizing a pre-trained diffusion model with a control network and a learned separable transformation for reconstruction. This allows us to build a prototype flat camera with high-quality imaging, presenting state-of-the-art results in both terms of quality and perceptuality. We demonstrate its ability to leverage also textual descriptions of the captured scene to further enhance reconstruction. Our reconstruction method which leverages the strong capabilities of a pre-trained diffusion model can be used in other imaging systems for improved reconstruction results.

Existing novel object 6D pose estimation methods typically rely on CAD models or dense reference views, which are both difficult to acquire. Using only a single reference view is more scalable, but challenging due to large pose discrepancies and limited geometric and spatial information. To address these issues, we propose a Single-Reference-based novel object 6D (SinRef-6D) pose estimation method. Our key idea is to iteratively establish point-wise alignment in the camera coordinate system based on state space models (SSMs). Specifically, iterative camera-space point-wise alignment can effectively handle large pose discrepancies, while our proposed RGB and Points SSMs can capture long-range dependencies and spatial information from a single view, offering linear complexity and superior spatial modeling capability. Once pre-trained on synthetic data, SinRef-6D can estimate the 6D pose of a novel object using only a single reference view, without requiring retraining or a CAD model. Extensive experiments on six popular datasets and real-world robotic scenes demonstrate that we achieve on-par performance with CAD-based and dense reference view-based methods, despite operating in the more challenging single reference setting. Code will be released at https://github.com/CNJianLiu/SinRef-6D.

We present 4DiM, a cascaded diffusion model for 4D novel view synthesis (NVS), conditioned on one or more images of a general scene, and a set of camera poses and timestamps. To overcome challenges due to limited availability of 4D training data, we advocate joint training on 3D (with camera pose), 4D (pose+time) and video (time but no pose) data and propose a new architecture that enables the same. We further advocate the calibration of SfM posed data using monocular metric depth estimators for metric scale camera control. For model evaluation, we introduce new metrics to enrich and overcome shortcomings of current evaluation schemes, demonstrating state-of-the-art results in both fidelity and pose control compared to existing diffusion models for 3D NVS, while at the same time adding the ability to handle temporal dynamics. 4DiM is also used for improved panorama stitching, pose-conditioned video to video translation, and several other tasks. For an overview see https://4d-diffusion.github.io

Imaging systems consist of cameras to encode visual information about the world and perception models to interpret this encoding. Cameras contain (1) illumination sources, (2) optical elements, and (3) sensors, while perception models use (4) algorithms. Directly searching over all combinations of these four building blocks to design an imaging system is challenging due to the size of the search space. Moreover, cameras and perception models are often designed independently, leading to sub-optimal task performance. In this paper, we formulate these four building blocks of imaging systems as a context-free grammar (CFG), which can be automatically searched over with a learned camera designer to jointly optimize the imaging system with task-specific perception models. By transforming the CFG to a state-action space, we then show how the camera designer can be implemented with reinforcement learning to intelligently search over the combinatorial space of possible imaging system configurations. We demonstrate our approach on two tasks, depth estimation and camera rig design for autonomous vehicles, showing that our method yields rigs that outperform industry-wide standards. We believe that our proposed approach is an important step towards automating imaging system design.

This paper introduces MVDiffusion, a simple yet effective multi-view image generation method for scenarios where pixel-to-pixel correspondences are available, such as perspective crops from panorama or multi-view images given geometry (depth maps and poses). Unlike prior models that rely on iterative image warping and inpainting, MVDiffusion concurrently generates all images with a global awareness, encompassing high resolution and rich content, effectively addressing the error accumulation prevalent in preceding models. MVDiffusion specifically incorporates a correspondence-aware attention mechanism, enabling effective cross-view interaction. This mechanism underpins three pivotal modules: 1) a generation module that produces low-resolution images while maintaining global correspondence, 2) an interpolation module that densifies spatial coverage between images, and 3) a super-resolution module that upscales into high-resolution outputs. In terms of panoramic imagery, MVDiffusion can generate high-resolution photorealistic images up to 1024times1024 pixels. For geometry-conditioned multi-view image generation, MVDiffusion demonstrates the first method capable of generating a textured map of a scene mesh. The project page is at https://mvdiffusion.github.io.

Video generation technologies are developing rapidly and have broad potential applications. Among these technologies, camera control is crucial for generating professional-quality videos that accurately meet user expectations. However, existing camera control methods still suffer from several limitations, including control precision and the neglect of the control for subject motion dynamics. In this work, we propose I2VControl-Camera, a novel camera control method that significantly enhances controllability while providing adjustability over the strength of subject motion. To improve control precision, we employ point trajectory in the camera coordinate system instead of only extrinsic matrix information as our control signal. To accurately control and adjust the strength of subject motion, we explicitly model the higher-order components of the video trajectory expansion, not merely the linear terms, and design an operator that effectively represents the motion strength. We use an adapter architecture that is independent of the base model structure. Experiments on static and dynamic scenes show that our framework outperformances previous methods both quantitatively and qualitatively. The project page is: https://wanquanf.github.io/I2VControlCamera .

Recent progress in text-to-video generation has achieved remarkable realism, yet fine-grained control over camera motion and orientation remains elusive. Existing approaches typically encode camera trajectories through relative or ambiguous representations, limiting explicit geometric control. We introduce GimbalDiffusion, a framework that enables camera control grounded in physical-world coordinates, using gravity as a global reference. Instead of describing motion relative to previous frames, our method defines camera trajectories in an absolute coordinate system, allowing precise and interpretable control over camera parameters without requiring an initial reference frame. We leverage panoramic 360-degree videos to construct a wide variety of camera trajectories, well beyond the predominantly straight, forward-facing trajectories seen in conventional video data. To further enhance camera guidance, we introduce null-pitch conditioning, an annotation strategy that reduces the model's reliance on text content when conflicting with camera specifications (e.g., generating grass while the camera points towards the sky). Finally, we establish a benchmark for camera-aware video generation by rebalancing SpatialVID-HQ for comprehensive evaluation under wide camera pitch variation. Together, these contributions advance the controllability and robustness of text-to-video models, enabling precise, gravity-aligned camera manipulation within generative frameworks.

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.

The research fields of parametric face models and 3D face reconstruction have been extensively studied. However, a critical question remains unanswered: how to tailor the face model for specific reconstruction settings. We argue that reconstruction with multi-view uncalibrated images demands a new model with stronger capacity. Our study shifts attention from data-dependent 3D Morphable Models (3DMM) to an understudied human-designed skinning model. We propose Adaptive Skinning Model (ASM), which redefines the skinning model with more compact and fully tunable parameters. With extensive experiments, we demonstrate that ASM achieves significantly improved capacity than 3DMM, with the additional advantage of model size and easy implementation for new topology. We achieve state-of-the-art performance with ASM for multi-view reconstruction on the Florence MICC Coop benchmark. Our quantitative analysis demonstrates the importance of a high-capacity model for fully exploiting abundant information from multi-view input in reconstruction. Furthermore, our model with physical-semantic parameters can be directly utilized for real-world applications, such as in-game avatar creation. As a result, our work opens up new research directions for the parametric face models and facilitates future research on multi-view reconstruction.

Domain shift remains a persistent challenge in deep-learning-based computer vision, often requiring extensive model modifications or large labeled datasets to address. Inspired by human visual perception, which adjusts input quality through corrective lenses rather than over-training the brain, we propose Lens, a novel camera sensor control method that enhances model performance by capturing high-quality images from the model's perspective rather than relying on traditional human-centric sensor control. Lens is lightweight and adapts sensor parameters to specific models and scenes in real-time. At its core, Lens utilizes VisiT, a training-free, model-specific quality indicator that evaluates individual unlabeled samples at test time using confidence scores without additional adaptation costs. To validate Lens, we introduce ImageNet-ES Diverse, a new benchmark dataset capturing natural perturbations from varying sensor and lighting conditions. Extensive experiments on both ImageNet-ES and our new ImageNet-ES Diverse show that Lens significantly improves model accuracy across various baseline schemes for sensor control and model modification while maintaining low latency in image captures. Lens effectively compensates for large model size differences and integrates synergistically with model improvement techniques. Our code and dataset are available at github.com/Edw2n/Lens.git.

The synthesis of spatiotemporally coherent 4D content presents fundamental challenges in computer vision, requiring simultaneous modeling of high-fidelity spatial representations and physically plausible temporal dynamics. Current approaches often struggle to maintain view consistency while handling complex scene dynamics, particularly in large-scale environments with multiple interacting elements. This work introduces Dream4D, a novel framework that bridges this gap through a synergy of controllable video generation and neural 4D reconstruction. Our approach seamlessly combines a two-stage architecture: it first predicts optimal camera trajectories from a single image using few-shot learning, then generates geometrically consistent multi-view sequences via a specialized pose-conditioned diffusion process, which are finally converted into a persistent 4D representation. This framework is the first to leverage both rich temporal priors from video diffusion models and geometric awareness of the reconstruction models, which significantly facilitates 4D generation and shows higher quality (e.g., mPSNR, mSSIM) over existing methods.

Diffusion models have recently gained recognition for generating diverse and high-quality content, especially in the domain of image synthesis. These models excel not only in creating fixed-size images but also in producing panoramic images. However, existing methods often struggle with spatial layout consistency when producing high-resolution panoramas, due to the lack of guidance of the global image layout. In this paper, we introduce the Multi-Scale Diffusion (MSD) framework, a plug-and-play module that extends the existing panoramic image generation framework to multiple resolution levels. By utilizing gradient descent techniques, our method effectively incorporates structural information from low-resolution images into high-resolution outputs. A comprehensive evaluation of the proposed method was conducted, comparing it with the prior works in qualitative and quantitative dimensions. The evaluation results demonstrate that our method significantly outperforms others in generating coherent high-resolution panoramas.

The increasing demand for augmented and virtual reality applications has highlighted the importance of crafting immersive 3D scenes from a simple single-view image. However, due to the partial priors provided by single-view input, existing methods are often limited to reconstruct low-consistency 3D scenes with narrow fields of view from single-view input. These limitations make them less capable of generalizing to reconstruct immersive scenes. To address this problem, we propose ExScene, a two-stage pipeline to reconstruct an immersive 3D scene from any given single-view image. ExScene designs a novel multimodal diffusion model to generate a high-fidelity and globally consistent panoramic image. We then develop a panoramic depth estimation approach to calculate geometric information from panorama, and we combine geometric information with high-fidelity panoramic image to train an initial 3D Gaussian Splatting (3DGS) model. Following this, we introduce a GS refinement technique with 2D stable video diffusion priors. We add camera trajectory consistency and color-geometric priors into the denoising process of diffusion to improve color and spatial consistency across image sequences. These refined sequences are then used to fine-tune the initial 3DGS model, leading to better reconstruction quality. Experimental results demonstrate that our ExScene achieves consistent and immersive scene reconstruction using only single-view input, significantly surpassing state-of-the-art baselines.

Tremendous progress in deep generative models has led to photorealistic image synthesis. While achieving compelling results, most approaches operate in the two-dimensional image domain, ignoring the three-dimensional nature of our world. Several recent works therefore propose generative models which are 3D-aware, i.e., scenes are modeled in 3D and then rendered differentiably to the image plane. This leads to impressive 3D consistency, but incorporating such a bias comes at a price: the camera needs to be modeled as well. Current approaches assume fixed intrinsics and a predefined prior over camera pose ranges. As a result, parameter tuning is typically required for real-world data, and results degrade if the data distribution is not matched. Our key hypothesis is that learning a camera generator jointly with the image generator leads to a more principled approach to 3D-aware image synthesis. Further, we propose to decompose the scene into a background and foreground model, leading to more efficient and disentangled scene representations. While training from raw, unposed image collections, we learn a 3D- and camera-aware generative model which faithfully recovers not only the image but also the camera data distribution. At test time, our model generates images with explicit control over the camera as well as the shape and appearance of the scene.

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.

While methods for monocular depth estimation have made significant strides on standard benchmarks, zero-shot metric depth estimation remains unsolved. Challenges include the joint modeling of indoor and outdoor scenes, which often exhibit significantly different distributions of RGB and depth, and the depth-scale ambiguity due to unknown camera intrinsics. Recent work has proposed specialized multi-head architectures for jointly modeling indoor and outdoor scenes. In contrast, we advocate a generic, task-agnostic diffusion model, with several advancements such as log-scale depth parameterization to enable joint modeling of indoor and outdoor scenes, conditioning on the field-of-view (FOV) to handle scale ambiguity and synthetically augmenting FOV during training to generalize beyond the limited camera intrinsics in training datasets. Furthermore, by employing a more diverse training mixture than is common, and an efficient diffusion parameterization, our method, DMD (Diffusion for Metric Depth) achieves a 25\% reduction in relative error (REL) on zero-shot indoor and 33\% reduction on zero-shot outdoor datasets over the current SOTA using only a small number of denoising steps. For an overview see https://diffusion-vision.github.io/dmd

Foundation models like the Segment Anything Model (SAM) have significantly advanced promptable image segmentation in computer vision. However, extending these capabilities to videos presents substantial challenges, particularly in ensuring precise and temporally consistent mask propagation in dynamic scenes. SAM 2 attempts to address this by training a model on massive image and video data from scratch to learn complex spatiotemporal associations, resulting in huge training costs that hinder research and practical deployment. In this paper, we introduce SAM-I2V, an effective image-to-video upgradation method for cultivating a promptable video segmentation (PVS) model. Our approach strategically upgrades the pre-trained SAM to support PVS, significantly reducing training complexity and resource requirements. To achieve this, we introduce three key innovations: (i) an image-to-video feature extraction upgrader built upon SAM's static image encoder to enable spatiotemporal video perception, (ii) a memory filtering strategy that selects the most relevant past frames for more effective utilization of historical information, and (iii) a memory-as-prompt mechanism leveraging object memory to ensure temporally consistent mask propagation in dynamic scenes. Comprehensive experiments demonstrate that our method achieves over 90% of SAM 2's performance while using only 0.2% of its training cost. Our work presents a resource-efficient pathway to PVS, lowering barriers for further research in PVS model design and enabling broader applications and advancements in the field. Code and model are available at: https://github.com/showlab/SAM-I2V.

Camera sensor simulation serves as a critical role for autonomous driving (AD), e.g. evaluating vision-based AD algorithms. While existing approaches have leveraged generative models for controllable image/video generation, they remain constrained to generating multi-view video sequences with fixed camera viewpoints and video frequency, significantly limiting their downstream applications. To address this, we present a generalizable camera simulation framework DriveCamSim, whose core innovation lies in the proposed Explicit Camera Modeling (ECM) mechanism. Instead of implicit interaction through vanilla attention, ECM establishes explicit pixel-wise correspondences across multi-view and multi-frame dimensions, decoupling the model from overfitting to the specific camera configurations (intrinsic/extrinsic parameters, number of views) and temporal sampling rates presented in the training data. For controllable generation, we identify the issue of information loss inherent in existing conditional encoding and injection pipelines, proposing an information-preserving control mechanism. This control mechanism not only improves conditional controllability, but also can be extended to be identity-aware to enhance temporal consistency in foreground object rendering. With above designs, our model demonstrates superior performance in both visual quality and controllability, as well as generalization capability across spatial-level (camera parameters variations) and temporal-level (video frame rate variations), enabling flexible user-customizable camera simulation tailored to diverse application scenarios. Code will be avaliable at https://github.com/swc-17/DriveCamSim for facilitating future research.

Forensic analyses of digital images rely heavily on the traces of in-camera and out-camera processes left on the acquired images. Such traces represent a sort of camera fingerprint. If one is able to recover them, by suppressing the high-level scene content and other disturbances, a number of forensic tasks can be easily accomplished. A notable example is the PRNU pattern, which can be regarded as a device fingerprint, and has received great attention in multimedia forensics. In this paper we propose a method to extract a camera model fingerprint, called noiseprint, where the scene content is largely suppressed and model-related artifacts are enhanced. This is obtained by means of a Siamese network, which is trained with pairs of image patches coming from the same (label +1) or different (label -1) cameras. Although noiseprints can be used for a large variety of forensic tasks, here we focus on image forgery localization. Experiments on several datasets widespread in the forensic community show noiseprint-based methods to provide state-of-the-art performance.

Novel-view synthesis (NVS) can be tackled through different approaches, depending on the general setting: a single source image to a short video sequence, exact or noisy camera pose information, 3D-based information such as point clouds etc. The most challenging scenario, the one where we stand in this work, only considers a unique source image to generate a novel one from another viewpoint. However, in such a tricky situation, the latest learning-based solutions often struggle to integrate the camera viewpoint transformation. Indeed, the extrinsic information is often passed as-is, through a low-dimensional vector. It might even occur that such a camera pose, when parametrized as Euler angles, is quantized through a one-hot representation. This vanilla encoding choice prevents the learnt architecture from inferring novel views on a continuous basis (from a camera pose perspective). We claim it exists an elegant way to better encode relative camera pose, by leveraging 3D-related concepts such as the epipolar constraint. We, therefore, introduce an innovative method that encodes the viewpoint transformation as a 2D feature image. Such a camera encoding strategy gives meaningful insights to the network regarding how the camera has moved in space between the two views. By encoding the camera pose information as a finite number of coloured epipolar lines, we demonstrate through our experiments that our strategy outperforms vanilla encoding.

Image-based 3D reconstruction has increasingly stunning results over the past few years with the latest improvements in computer vision and graphics. Geometry and topology are two fundamental concepts when dealing with 3D mesh structures. But the latest often remains a side issue in the 3D mesh-based reconstruction literature. Indeed, performing per-vertex elementary displacements over a 3D sphere mesh only impacts its geometry and leaves the topological structure unchanged and fixed. Whereas few attempts propose to update the geometry and the topology, all need to lean on costly 3D ground-truth to determine the faces/edges to prune. We present in this work a method that aims to refine the topology of any 3D mesh through a face-pruning strategy that extensively relies upon 2D alpha masks and camera pose information. Our solution leverages a differentiable renderer that renders each face as a 2D soft map. Its pixel intensity reflects the probability of being covered during the rendering process by such a face. Based on the 2D soft-masks available, our method is thus able to quickly highlight all the incorrectly rendered faces for a given viewpoint. Because our module is agnostic to the network that produces the 3D mesh, it can be easily plugged into any self-supervised image-based (either synthetic or natural) 3D reconstruction pipeline to get complex meshes with a non-spherical topology.

Existing calibration methods occasionally fail for large field-of-view cameras due to the non-linearity of the underlying problem and the lack of good initial values for all parameters of the used camera model. This might occur because a simpler projection model is assumed in an initial step, or a poor initial guess for the internal parameters is pre-defined. A lot of the difficulties of general camera calibration lie in the use of a forward projection model. We side-step these challenges by first proposing a solver to calibrate the parameters in terms of a back-projection model and then regress the parameters for a target forward model. These steps are incorporated in a robust estimation framework to cope with outlying detections. Extensive experiments demonstrate that our approach is very reliable and returns the most accurate calibration parameters as measured on the downstream task of absolute pose estimation on test sets. The code is released at https://github.com/ylochman/babelcalib.

Panorama has a full FoV (360^circtimes180^circ), offering a more complete visual description than perspective images. Thanks to this characteristic, panoramic depth estimation is gaining increasing traction in 3D vision. However, due to the scarcity of panoramic data, previous methods are often restricted to in-domain settings, leading to poor zero-shot generalization. Furthermore, due to the spherical distortions inherent in panoramas, many approaches rely on perspective splitting (e.g., cubemaps), which leads to suboptimal efficiency. To address these challenges, we propose DA^{2}: Depth Anything in Any Direction, an accurate, zero-shot generalizable, and fully end-to-end panoramic depth estimator. Specifically, for scaling up panoramic data, we introduce a data curation engine for generating high-quality panoramic depth data from perspective, and create sim543K panoramic RGB-depth pairs, bringing the total to sim607K. To further mitigate the spherical distortions, we present SphereViT, which explicitly leverages spherical coordinates to enforce the spherical geometric consistency in panoramic image features, yielding improved performance. A comprehensive benchmark on multiple datasets clearly demonstrates DA^{2}'s SoTA performance, with an average 38% improvement on AbsRel over the strongest zero-shot baseline. Surprisingly, DA^{2} even outperforms prior in-domain methods, highlighting its superior zero-shot generalization. Moreover, as an end-to-end solution, DA^{2} exhibits much higher efficiency over fusion-based approaches. Both the code and the curated panoramic data will be released. Project page: https://depth-any-in-any-dir.github.io/.

Recently, breakthroughs in video modeling have allowed for controllable camera trajectories in generated videos. However, these methods cannot be directly applied to user-provided videos that are not generated by a video model. In this paper, we present ReCapture, a method for generating new videos with novel camera trajectories from a single user-provided video. Our method allows us to re-generate the reference video, with all its existing scene motion, from vastly different angles and with cinematic camera motion. Notably, using our method we can also plausibly hallucinate parts of the scene that were not observable in the reference video. Our method works by (1) generating a noisy anchor video with a new camera trajectory using multiview diffusion models or depth-based point cloud rendering and then (2) regenerating the anchor video into a clean and temporally consistent reangled video using our proposed masked video fine-tuning technique.

From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D mapping. Current approaches to this problem are based on either classical geometry with lines and vanishing points or on deep neural networks trained end-to-end. The learned approaches are more robust but struggle to generalize to new environments and are less accurate than their classical counterparts. We hypothesize that they lack the constraints that 3D geometry provides. In this work, we introduce GeoCalib, a deep neural network that leverages universal rules of 3D geometry through an optimization process. GeoCalib is trained end-to-end to estimate camera parameters and learns to find useful visual cues from the data. Experiments on various benchmarks show that GeoCalib is more robust and more accurate than existing classical and learned approaches. Its internal optimization estimates uncertainties, which help flag failure cases and benefit downstream applications like visual localization. The code and trained models are publicly available at https://github.com/cvg/GeoCalib.

Detecting dental diseases through panoramic X-rays images is a standard procedure for dentists. Normally, a dentist need to identify diseases and find the infected teeth. While numerous machine learning models adopting this two-step procedure have been developed, there has not been an end-to-end model that can identify teeth and their associated diseases at the same time. To fill the gap, we develop YOLOrtho, a unified framework for teeth enumeration and dental disease detection. We develop our model on Dentex Challenge 2023 data, which consists of three distinct types of annotated data. The first part is labeled with quadrant, and the second part is labeled with quadrant and enumeration and the third part is labeled with quadrant, enumeration and disease. To further improve detection, we make use of Tufts Dental public dataset. To fully utilize the data and learn both teeth detection and disease identification simultaneously, we formulate diseases as attributes attached to their corresponding teeth. Due to the nature of position relation in teeth enumeration, We replace convolution layer with CoordConv in our model to provide more position information for the model. We also adjust the model architecture and insert one more upsampling layer in FPN in favor of large object detection. Finally, we propose a post-process strategy for teeth layout that corrects teeth enumeration based on linear sum assignment. Results from experiments show that our model exceeds large Diffusion-based model.

Recent efforts on image restoration have focused on developing "all-in-one" models that can handle different degradation types and levels within single model. However, most of mainstream Transformer-based ones confronted with dilemma between model capabilities and computation burdens, since self-attention mechanism quadratically increase in computational complexity with respect to image size, and has inadequacies in capturing long-range dependencies. Most of Mamba-related ones solely scanned feature map in spatial dimension for global modeling, failing to fully utilize information in channel dimension. To address aforementioned problems, this paper has proposed to fully utilize complementary advantages from Mamba and Transformer without sacrificing computation efficiency. Specifically, the selective scanning mechanism of Mamba is employed to focus on spatial modeling, enabling capture long-range spatial dependencies under linear complexity. The self-attention mechanism of Transformer is applied to focus on channel modeling, avoiding high computation burdens that are in quadratic growth with image's spatial dimensions. Moreover, to enrich informative prompts for effective image restoration, multi-dimensional prompt learning modules are proposed to learn prompt-flows from multi-scale encoder/decoder layers, benefiting for revealing underlying characteristic of various degradations from both spatial and channel perspectives, therefore, enhancing the capabilities of "all-in-one" model to solve various restoration tasks. Extensive experiment results on several image restoration benchmark tasks such as image denoising, dehazing, and deraining, have demonstrated that the proposed method can achieve new state-of-the-art performance, compared with many popular mainstream methods. Related source codes and pre-trained parameters will be public on github https://github.com/12138-chr/MTAIR.

Camera pose estimation is a fundamental computer vision task that is essential for applications like visual localization and multi-view stereo reconstruction. In the object-centric scenarios with sparse inputs, the accuracy of pose estimation can be significantly influenced by background textures that occupy major portions of the images across different viewpoints. In light of this, we introduce the Kaleidoscopic Background Attack (KBA), which uses identical segments to form discs with multi-fold radial symmetry. These discs maintain high similarity across different viewpoints, enabling effective attacks on pose estimation models even with natural texture segments. Additionally, a projected orientation consistency loss is proposed to optimize the kaleidoscopic segments, leading to significant enhancement in the attack effectiveness. Experimental results show that optimized adversarial kaleidoscopic backgrounds can effectively attack various camera pose estimation models.

Recent approaches on 3D camera control in video diffusion models (VDMs) often create anchor videos to guide diffusion models as a structured prior by rendering from estimated point clouds following annotated camera trajectories. However, errors inherent in point cloud estimation often lead to inaccurate anchor videos. Moreover, the requirement for extensive camera trajectory annotations further increases resource demands. To address these limitations, we introduce EPiC, an efficient and precise camera control learning framework that automatically constructs high-quality anchor videos without expensive camera trajectory annotations. Concretely, we create highly precise anchor videos for training by masking source videos based on first-frame visibility. This approach ensures high alignment, eliminates the need for camera trajectory annotations, and thus can be readily applied to any in-the-wild video to generate image-to-video (I2V) training pairs. Furthermore, we introduce Anchor-ControlNet, a lightweight conditioning module that integrates anchor video guidance in visible regions to pretrained VDMs, with less than 1% of backbone model parameters. By combining the proposed anchor video data and ControlNet module, EPiC achieves efficient training with substantially fewer parameters, training steps, and less data, without requiring modifications to the diffusion model backbone typically needed to mitigate rendering misalignments. Although being trained on masking-based anchor videos, our method generalizes robustly to anchor videos made with point clouds during inference, enabling precise 3D-informed camera control. EPiC achieves SOTA performance on RealEstate10K and MiraData for I2V camera control task, demonstrating precise and robust camera control ability both quantitatively and qualitatively. Notably, EPiC also exhibits strong zero-shot generalization to video-to-video scenarios.

This paper presents DualCamCtrl, a novel end-to-end diffusion model for camera-controlled video generation. Recent works have advanced this field by representing camera poses as ray-based conditions, yet they often lack sufficient scene understanding and geometric awareness. DualCamCtrl specifically targets this limitation by introducing a dual-branch framework that mutually generates camera-consistent RGB and depth sequences. To harmonize these two modalities, we further propose the Semantic Guided Mutual Alignment (SIGMA) mechanism, which performs RGB-depth fusion in a semantics-guided and mutually reinforced manner. These designs collectively enable DualCamCtrl to better disentangle appearance and geometry modeling, generating videos that more faithfully adhere to the specified camera trajectories. Additionally, we analyze and reveal the distinct influence of depth and camera poses across denoising stages and further demonstrate that early and late stages play complementary roles in forming global structure and refining local details. Extensive experiments demonstrate that DualCamCtrl achieves more consistent camera-controlled video generation, with over 40\% reduction in camera motion errors compared with prior methods. Our project page: https://soyouthinkyoucantell.github.io/dualcamctrl-page/

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

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot accuracy. This challenge is particularly evident in autonomous vehicles and mobile robotics, where data is collected with fixed camera setups, limiting the geometric diversity. Yet, this context also presents an opportunity: the fixed relationship between the camera and the ground plane imposes additional perspective geometry constraints, enabling depth regression via vertical image positions of objects. However, this cue is highly susceptible to overfitting, thus we propose a novel canonical representation that maintains consistency across varied camera setups, effectively disentangling depth from specific parameters and enhancing generalization across datasets. We also propose a novel architecture that adaptively and probabilistically fuses depths estimated via object size and vertical image position cues. A comprehensive evaluation demonstrates the effectiveness of the proposed approach on five autonomous driving datasets, achieving accurate metric depth estimation for varying resolutions, aspect ratios and camera setups. Notably, we achieve comparable accuracy to existing zero-shot methods, despite training on a single dataset with a single-camera setup.

Tracking any given object(s) spatially and temporally is a common purpose in Visual Object Tracking (VOT) and Video Object Segmentation (VOS). Joint tracking and segmentation have been attempted in some studies but they often lack full compatibility of both box and mask in initialization and prediction, and mainly focus on single-object scenarios. To address these limitations, this paper proposes a Multi-object Mask-box Integrated framework for unified Tracking and Segmentation, dubbed MITS. Firstly, the unified identification module is proposed to support both box and mask reference for initialization, where detailed object information is inferred from boxes or directly retained from masks. Additionally, a novel pinpoint box predictor is proposed for accurate multi-object box prediction, facilitating target-oriented representation learning. All target objects are processed simultaneously from encoding to propagation and decoding, as a unified pipeline for VOT and VOS. Experimental results show MITS achieves state-of-the-art performance on both VOT and VOS benchmarks. Notably, MITS surpasses the best prior VOT competitor by around 6% on the GOT-10k test set, and significantly improves the performance of box initialization on VOS benchmarks. The code is available at https://github.com/yoxu515/MITS.

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints, which require the input images to have large overlap and small viewpoint changes. Such requirements present considerable challenges in scenarios with sparse views. Recent data-driven approaches aim to directly output camera poses, either through regressing the 6DoF camera poses or formulating rotation as a probability distribution. However, each approach has its limitations. On one hand, directly regressing the camera poses can be ill-posed, since it assumes a single mode, which is not true under symmetry and leads to sub-optimal solutions. On the other hand, probabilistic approaches are capable of modeling the symmetry ambiguity, yet they sample the entire space of rotation uniformly by brute-force. This leads to an inevitable trade-off between high sample density, which improves model precision, and sample efficiency that determines the runtime. In this paper, we propose ADen to unify the two frameworks by employing a generator and a discriminator: the generator is trained to output multiple hypotheses of 6DoF camera pose to represent a distribution and handle multi-mode ambiguity, and the discriminator is trained to identify the hypothesis that best explains the data. This allows ADen to combine the best of both worlds, achieving substantially higher precision as well as lower runtime than previous methods in empirical evaluations.

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/

Panorama video recently attracts more interest in both study and application, courtesy of its immersive experience. Due to the expensive cost of capturing 360-degree panoramic videos, generating desirable panorama videos by prompts is urgently required. Lately, the emerging text-to-video (T2V) diffusion methods demonstrate notable effectiveness in standard video generation. However, due to the significant gap in content and motion patterns between panoramic and standard videos, these methods encounter challenges in yielding satisfactory 360-degree panoramic videos. In this paper, we propose a pipeline named 360-Degree Video Diffusion model (360DVD) for generating 360-degree panoramic videos based on the given prompts and motion conditions. Specifically, we introduce a lightweight 360-Adapter accompanied by 360 Enhancement Techniques to transform pre-trained T2V models for panorama video generation. We further propose a new panorama dataset named WEB360 consisting of panoramic video-text pairs for training 360DVD, addressing the absence of captioned panoramic video datasets. Extensive experiments demonstrate the superiority and effectiveness of 360DVD for panorama video generation. Our project page is at https://akaneqwq.github.io/360DVD/.

We present a method for generating video sequences with coherent motion between a pair of input key frames. We adapt a pretrained large-scale image-to-video diffusion model (originally trained to generate videos moving forward in time from a single input image) for key frame interpolation, i.e., to produce a video in between two input frames. We accomplish this adaptation through a lightweight fine-tuning technique that produces a version of the model that instead predicts videos moving backwards in time from a single input image. This model (along with the original forward-moving model) is subsequently used in a dual-directional diffusion sampling process that combines the overlapping model estimates starting from each of the two keyframes. Our experiments show that our method outperforms both existing diffusion-based methods and traditional frame interpolation techniques.

With the rapid advancement and widespread adoption of VR/AR technologies, there is a growing demand for the creation of high-quality, immersive dynamic scenes. However, existing generation works predominantly concentrate on the creation of static scenes or narrow perspective-view dynamic scenes, falling short of delivering a truly 360-degree immersive experience from any viewpoint. In this paper, we introduce TiP4GEN, an advanced text-to-dynamic panorama scene generation framework that enables fine-grained content control and synthesizes motion-rich, geometry-consistent panoramic 4D scenes. TiP4GEN integrates panorama video generation and dynamic scene reconstruction to create 360-degree immersive virtual environments. For video generation, we introduce a Dual-branch Generation Model consisting of a panorama branch and a perspective branch, responsible for global and local view generation, respectively. A bidirectional cross-attention mechanism facilitates comprehensive information exchange between the branches. For scene reconstruction, we propose a Geometry-aligned Reconstruction Model based on 3D Gaussian Splatting. By aligning spatial-temporal point clouds using metric depth maps and initializing scene cameras with estimated poses, our method ensures geometric consistency and temporal coherence for the reconstructed scenes. Extensive experiments demonstrate the effectiveness of our proposed designs and the superiority of TiP4GEN in generating visually compelling and motion-coherent dynamic panoramic scenes. Our project page is at https://ke-xing.github.io/TiP4GEN/.

Recent progress in panoramic image generation has underscored two critical limitations in existing approaches. First, most methods are built upon diffusion models, which are inherently ill-suited for equirectangular projection (ERP) panoramas due to the violation of the identically and independently distributed (i.i.d.) Gaussian noise assumption caused by their spherical mapping. Second, these methods often treat text-conditioned generation (text-to-panorama) and image-conditioned generation (panorama outpainting) as separate tasks, relying on distinct architectures and task-specific data. In this work, we propose a unified framework, Panoramic AutoRegressive model (PAR), which leverages masked autoregressive modeling to address these challenges. PAR avoids the i.i.d. assumption constraint and integrates text and image conditioning into a cohesive architecture, enabling seamless generation across tasks. To address the inherent discontinuity in existing generative models, we introduce circular padding to enhance spatial coherence and propose a consistency alignment strategy to improve generation quality. Extensive experiments demonstrate competitive performance in text-to-image generation and panorama outpainting tasks while showcasing promising scalability and generalization capabilities.

Currently almost all state-of-the-art novel view synthesis and reconstruction models rely on calibrated cameras or additional geometric priors for training. These prerequisites significantly limit their applicability to massive uncalibrated data. To alleviate this requirement and unlock the potential for self-supervised training on large-scale uncalibrated videos, we propose a novel two-stage strategy to train a view synthesis model from only raw video frames or multi-view images, without providing camera parameters or other priors. In the first stage, we learn to reconstruct the scene implicitly in a latent space without relying on any explicit 3D representation. Specifically, we predict per-frame latent camera and scene context features, and employ a view synthesis model as a proxy for explicit rendering. This pretraining stage substantially reduces the optimization complexity and encourages the network to learn the underlying 3D consistency in a self-supervised manner. The learned latent camera and implicit scene representation have a large gap compared with the real 3D world. To reduce this gap, we introduce the second stage training by explicitly predicting 3D Gaussian primitives. We additionally apply explicit Gaussian Splatting rendering loss and depth projection loss to align the learned latent representations with physically grounded 3D geometry. In this way, Stage 1 provides a strong initialization and Stage 2 enforces 3D consistency - the two stages are complementary and mutually beneficial. Extensive experiments demonstrate the effectiveness of our approach, achieving high-quality novel view synthesis and accurate camera pose estimation, compared to methods that employ supervision with calibration, pose, or depth information. The code is available at https://github.com/Dwawayu/Pensieve.

We propose PostCam, a framework for novel-view video generation that enables post-capture editing of camera trajectories in dynamic scenes. We find that existing video recapture methods suffer from suboptimal camera motion injection strategies; such suboptimal designs not only limit camera control precision but also result in generated videos that fail to preserve fine visual details from the source video. To achieve more accurate and flexible motion manipulation, PostCam introduces a query-shared cross-attention module. It integrates two distinct forms of control signals: the 6-DoF camera poses and the 2D rendered video frames. By fusing them into a unified representation within a shared feature space, our model can extract underlying motion cues, which enhances both control precision and generation quality. Furthermore, we adopt a two-stage training strategy: the model first learns coarse camera control from pose inputs, and then incorporates visual information to refine motion accuracy and enhance visual fidelity. Experiments on both real-world and synthetic datasets demonstrate that PostCam outperforms state-of-the-art methods by over 20% in camera control precision and view consistency, while achieving the highest video generation quality. Our project webpage is publicly available at: https://cccqaq.github.io/PostCam.github.io/

We propose PRM, a novel photometric stereo based large reconstruction model to reconstruct high-quality meshes with fine-grained local details. Unlike previous large reconstruction models that prepare images under fixed and simple lighting as both input and supervision, PRM renders photometric stereo images by varying materials and lighting for the purposes, which not only improves the precise local details by providing rich photometric cues but also increases the model robustness to variations in the appearance of input images. To offer enhanced flexibility of images rendering, we incorporate a real-time physically-based rendering (PBR) method and mesh rasterization for online images rendering. Moreover, in employing an explicit mesh as our 3D representation, PRM ensures the application of differentiable PBR, which supports the utilization of multiple photometric supervisions and better models the specular color for high-quality geometry optimization. Our PRM leverages photometric stereo images to achieve high-quality reconstructions with fine-grained local details, even amidst sophisticated image appearances. Extensive experiments demonstrate that PRM significantly outperforms other models.