Standard depth sensors systematically fail on transparent surfaces, creating corrupted 3D maps and severe navigation hazards. While specialized hardware sensors can detect glass, they lack modularity and have extensive hardware dependencies.
arXiv:2608.29881v1 Announce Type: new Abstract: Monocular depth estimation has achieved strong open-domain generalization, yet reliable robotic deployment remains difficult in transparent, reflective...
arXiv:2607.03470v2 Announce Type: replace Abstract: Synthesizing physically accurate mirror reflections remains a fundamental challenge for modern text-to-image diffusion models, which are increasing...
Glass Surface Detection Grounded in 3D Visual Geometry proposes a new approach that grounds glass surface detection in 3D visual geometry rather than relying solely on 2D appearance cues. The method uses a visual geometry grounded transformer (VGGT) to distill 3D priors and creates glass-aware 3D representations, then applies a multi-task learning framework with a Frequency Self-Attention Module (FSAM) and a Geometry Grounding Block (GeGB) to localize and segment glass surfaces. Experiments show state‑of‑the‑art performance on seven benchmarks, good generalization to video and multi‑modal data, and significant improvements in reconstruction of glass scenes.
arXiv:2609.10322v1 Announce Type: new Abstract: Transferring the rich priors of large 2D foundation models to sparse 3D LiDAR remains challenging, as training native 3D foundation models at comparabl...
The paper introduces GeoNeXt, a framework that repurposes pretrained video generative models for geometry estimation by framing it as a next‑frame prediction task. Unlike prior methods that either train separate depth/normal models or fine‑tune image diffusion backbones, GeoNeXt jointly models images and geometric targets, leveraging the structured knowledge of video models for more data‑efficient learning. Experiments show zero‑shot monocular depth and surface normal estimation that outperforms existing generative approaches and rivals discriminative state‑of‑the‑art methods while using far less training data.
Lang3DSeg introduces a point‑transformer backbone for open‑vocabulary, annotation‑free 3D LiDAR segmentation, trained from scratch without geometric pre‑training. It tackles noise from 2D‑to‑3D label projections by applying a class‑priority rule and truncating projected instances at depth gaps, thereby correcting depth‑ambiguity errors. The method achieves state‑of‑the‑art results on nuScenes (52.8 % mIoU) and SemanticKITTI (41.4 % mIoU) while operating in real‑time on a single LiDAR sweep.
arXiv:2606. 20189v3 Announce Type: replace-cross Abstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD).
arXiv:2606. 20189v1 Announce Type: cross Abstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD).
arXiv:2609.01172v1 Announce Type: new Abstract: Monocular depth estimation has long stood as a fundamental challenge in computer vision, enabling a wide range of applications including 3D reconstruct...
arXiv:2609.09394v1 Announce Type: new Abstract: Recovering metric 3D geometry from monocular images is a fundamental computer vision task, yet current methods remain heavily fragmented by fixed camer...
arXiv:2609.08084v1 Announce Type: cross Abstract: Monocular depth estimation is a ubiquitous yet highly ill-posed computer vision task, with downstream applications in scene reconstruction, computati...
Reconstructing 3D scenes from a single image is a fundamental challenge in computer vision, with broad applications in virtual reality, robotics, and content creation. Recent methods achieve outstanding performance by leveraging camera-controlled video diffusion models, but rely on iterative diffusion sampling, which greatly limits their practical deployment.