arXiv Computer Vision
DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception
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arXiv Computer Vision
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PIVOT: A Multi-Trajectory Dataset and Testbed for Pose, Intrinsics, and Novel Viewpoint Evaluation in Real-World 3D Reconstruction
PIVOT is a new multi‑trajectory dataset and evaluation framework that captures real‑world scenes with diverse camera paths, preserving both sensor‑derived measured poses and COLMAP‑optimized poses along with calibrated and optimized intrinsics. It defines three benchmark families—seen vs. unseen trajectory generalization, measured vs. optimized pose sensitivity, and calibrated vs. optimized intrinsics sensitivity—and introduces a directed pose‑space Chamfer distance to assess pose coverage. The first version of PIVOT includes five scenes recorded with a DJI Mini 4 Pro and offers an open processing and Nerfstudio‑based evaluation toolchain, revealing a consistent quality gap between held‑out and unseen trajectories and significant sensitivity to pose source and camera intrinsics.
arXiv Computer Vision
Sep 25
M3GD: Multi-Modal Multi-View Geometric Diffusion for Camera--LiDAR Novel View Synthesis
M3GD introduces a multimodal representation that fuses pre‑trained 2D image and 3D LiDAR foundation models for robotic novel view synthesis, avoiding the need for a separate cross‑modal translator. By projecting LiDAR onto the image latent grid and injecting the resulting geometry‑aware packets via a lightweight residual adapter, the method enhances both RGB and depth synthesis on the GrandTour dataset compared to an image‑only baseline. Ablation studies confirm that pixel‑aligned LiDAR content drives the performance gains, and real‑world deployment on a ground robot demonstrates a tunable quality–cost trade‑off.
arXiv Computer Vision
Oct 9
Learning Projection-Aware 360-Degree Image Rectification via Dual-Projection Fusion
The paper introduces a dual‑projection framework for rectifying 360° panoramic images, combining a convolutional neural network that processes equirectangular projections with a vision transformer that handles cubemap projections. Cross‑projection feature transformation and multi‑level fusion allow the two representations to interact, supporting collaborative inclination estimation and upright panorama generation. Experiments on SUN360 and M3D demonstrate significant accuracy gains, achieving 65.9% and 85.2% within a 1° error threshold and low Fréchet Inception Distance scores.
arXiv Computer Vision
Sep 1
Geometry-Grounded Unified 3D Perception for Autonomous Driving
arXiv:2608.13147v2 Announce Type: replace Abstract: Camera-based autonomous driving perception requires a shared representation that preserves metric 3D structure across synchronized multi-camera str...
arXiv AI
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Human Universal Grasping
arXiv:2606. 17054v1 Announce Type: cross Abstract: Humans can grasp objects effortlessly, whereas multi-fingered robots are far from this level of generality.
arXiv AI
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Pickalo: Leveraging 6D Pose Estimation for Low-Cost Industrial Bin Picking
arXiv:2604. 04690v2 Announce Type: replace-cross Abstract: Bin picking in real industrial environments remains challenging due to severe clutter, occlusions, and the high cost of traditional 3D sensing setups.