arXiv Computer Vision
HAT: Hypothesis-Anchored Tracking for Video Monocular Spacecraft Pose Estimation
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arXiv Computer Vision
Aug 25
ORBIT++: Benchmarking SfM in the Wild with 360{\deg} Video
arXiv:2608.22039v1 Announce Type: new Abstract: Structure-from-Motion (SfM) is a cornerstone of 3D perception, yet current methods often fail when applied to complex videos involving challenging came...
arXiv Computer Vision
Sep 18
Monocular Visual Odometry without Calibration or Test-time Optimization
The paper introduces CalfVO, a monocular visual odometry system that operates without camera intrinsics, test‑time optimization, bundle adjustment, or loop closure. Using a transformer, it predicts relative poses with separate rotation and translation confidences over overlapping image windows, then aggregates these predictions via a confidence‑weighted module to produce a single trajectory. CalfVO achieves the highest accuracy among calibration‑free methods across five benchmarks and runs at 53 FPS, outperforming all baselines.
arXiv Computer Vision
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StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry
arXiv:2609.40244v1 Announce Type: new Abstract: Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving effi...
arXiv AI
Jul 10
GAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision
arXiv:2607. 02360v3 Announce Type: replace-cross Abstract: Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion.
arXiv Computer Vision
Sep 21
VideoReloc: Long-Term Indoor Video Relocalization against a Kilobyte-Scale Semantic Scene Graph
VideoReloc presents a method for long‑term indoor video relocalization that relies on a compact semantic scene graph rather than visual appearance. By adaptively selecting clip lengths based on odometry and object‑motion criteria, the system gathers spatial evidence, verifies poses through object triplets, and refines orientation using box faces and gravity cues. This approach achieves high localization accuracy with a tiny 100 kB map, outperforming traditional appearance‑based methods on RIO10 and ReplicaCAD datasets.
Hugging Face Trending Papers
1d ago
StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry
Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving efficient use of rig geometry a challenge. We present...