arXiv:2609.13232v1 Announce Type: new Abstract: A robot pruning trees needs two facts per pixel: whether it belongs to a tree, and its distance. Both are usually obtained via task heads attached to a...
SCCM (Spherically Consistent Coarse Matching) improves dense feature correspondence on equirectangular projection (ERP) imagery by correcting topological, metric, and area distortions at the coarse matching stage. It augments a chart‑naive cross‑attention matcher with spherical positional attention and area‑aware covisibility priors, raising PCK@1° from 0.229 to 0.275 on Matterport3D while keeping the refiner unchanged. In the RoMa V1 framework, SCCM outperforms ERP‑native EDM and an ERP‑retrained RoMa V1, and it transfers zero‑shot to Stanford2D3D and outdoor Holo360D.
arXiv:2608.29819v1 Announce Type: new Abstract: Accurate stereo matching remains challenging in ill-posed regions such as fine structures, reflective, or transparent objects, where appearance cues ar...
arXiv:2608.28216v1 Announce Type: new Abstract: Locating a specific object instance in a cluttered scene using a single reference image and a short description, and reporting when that instance is ab...
Classical image correspondence is solved at the level of sparse keypoints or dense pixels, but the systems that consume these matches - object-level mapping, topological navigation, scene-graph maintenance - reason about whole objects. Recent work narrows this gap by matchng directly at the level of instance segments: a class-agnostic segmenter partitions each image, and per-segment descriptors are obtained by pooling features from large 3D foundation models over the masks.
Infrared small target detection (IRSTD) is important for low-altitude perception, unmanned-system warning, and security monitoring. However, weak targets in infrared imagery usually occupy only a few pixels and are easily submerged by cloud clutter, ground edges, and bright noise, making it difficult for lightweight segmentation-based methods to preserve local target structures while suppressing background interference.
The paper introduces DIFTA-3D, a method that replaces the task‑specific visual branch in IIFNet3D with a frozen DINOv3 foundation model for RGB‑D 3D instance detection. It employs a depth‑consistent feature pipeline that projects points into calibrated RGB‑D frames, filters features with a metric depth‑residual check, caches accepted DINOv3 features, and aggregates them within proposal‑aligned RoI grids. Extensive experiments on ScanNetV2 show that the DINOv3 control achieves mAP scores of 76.15/60.93 at IoU thresholds 0.25/0.50, while the Conservative VAID recipe improves these to 76.59/62.16, indicating a modest gain from the proposed transfer recipe.
SIMPLER is a pre‑fine‑tuning method that reduces inference and deployment costs for Earth Observation foundation models by pruning redundant layers. It uses layer‑wise representation similarity on unlabeled task data to identify and remove up to 79% of parameters without requiring gradients, magnitude heuristics, or hyperparameter tuning. Experiments on Prithvi‑EO‑2, TerraMind, and ImageNet‑pretrained ViT‑MAE show that SIMPLER retains 94% of baseline performance while achieving 2.1× faster training and 2.6× faster inference.
arXiv:2607. 02561v1 Announce Type: cross Abstract: Consumer depth sensors such as the LiDAR scanner on recent iPhones provide metric range, but their useful range is short and their returns are sparse.
arXiv:2608. 07579v1 Announce Type: cross Abstract: The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only.
VOIM (Voxel‑Grounded Online Instance Manager) is a training‑free system that builds open‑vocabulary 3D instance maps from RGB‑D or monocular RGB input by deferring label and instance decisions until sufficient soft evidence accumulates per voxel across views. Across four perception configurations on ScanNet++, VOIM outperforms the strongest online RGB‑D system, OVO‑SLAM, by 4.8–11.7 mIoU, and achieves 44.07 mIoU under a like‑for‑like protocol, winning all ten scenes. The method also runs unchanged on monocular RGB, matching baseline performance on Replica, and produces exportable occupancy grids that support free‑form instance queries.
arXiv:2606. 14757v1 Announce Type: cross Abstract: Though Vision Transformers (ViTs) have become the dominant backbone in many computer vision tasks, due to permutation equivariance, their attention mechanism lacks explicit spatial inductive biases.