arXiv:2610.28598v1 Announce Type: cross Abstract: Neural implicit representations provide memory-efficient signed distance field (SDF) parameterizations for large-scale LiDAR scenes, but the geometry...
arXiv:2608.15933v1 Announce Type: cross Abstract: Implicit surface representations have regained popularity because of their use in machine learning. A common component in optimization is regularizat...
LiDAR point clouds acquired in underground environments exhibit severe geometric incompleteness due to occlusions and limited sensor viewpoints, making reliable point cloud completion challenging with...
NeuDonatello is a new framework for neural signed distance function (SDF) learning that explicitly models spatially varying uncertainty using Monte Carlo sampling. By incorporating this uncertainty into an adaptive regularization scheme and an uncertainty-aware SDF-to-density conversion, the method selectively strengthens geometric constraints where RGB supervision is unreliable, thereby improving surface reconstruction accuracy. Experiments show that NeuDonatello achieves state‑of‑the‑art results on diverse scenes using only posed RGB images.
arXiv:2610.18005v2 Announce Type: replace Abstract: Surface reconstruction from range scans is challenging in the presence of noise and outliers, as fidelity to observations must be balanced against...
arXiv:2609.24825v1 Announce Type: new Abstract: LiDAR point clouds acquired in underground environments exhibit severe geometric incompleteness due to occlusions and limited sensor viewpoints, making...
arXiv:2605.10360v3 Announce Type: replace Abstract: While novel view synthesis (NVS) for dynamic scenes has seen significant progress, reconstructing temporally consistent geometric surfaces remains...
Metric scale monocular geometry estimation has seen significant progress through large-scale data aggregation, yet current foundation models suffer from a persistent ''scale-collapse'' phenomenon: distant landmarks and vast landscapes are metrically underestimated. We hypothesize that this performance gap stems from a training data bottleneck, where existing metric-scale datasets are hardware-constrained to homogenous vehicle-captured LiDAR or short-range indoor scans, or consist of synthetic data that lacks the semantic complexity of the physical world.
arXiv:2607. 26645v1 Announce Type: cross Abstract: Existing point-based generative methods for outdoor scenes primarily focus on LiDAR-conditioned completion.
arXiv:2610.19786v1 Announce Type: new Abstract: Generating LiDAR point clouds from multi-view camera images is a valuable task with applications in controllable data synthesis, cross-modal simulation...
The paper introduces the Register Anything Model (RAM), a unified approach for 3D point cloud registration that can robustly estimate 6‑DoF transformations across a wide range of domains, including indoor, outdoor, and object scenes. RAM overcomes domain‑specific challenges by employing a geometry‑aware normalization that voxelizes and standardizes point clouds based on their geometric properties, followed by a hierarchical coarse‑to‑fine pipeline with a geometric transformer that focuses on local consistency. Experiments on 12 benchmarks show that RAM achieves state‑of‑the‑art inlier ratios and registration recall, outperforming methods trained on individual domains and demonstrating strong generalization.
arXiv:2506. 22784v2 Announce Type: replace-cross Abstract: Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception.