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We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches operate globally and implicitly rely on the a priori existence of metric camera poses, our method, Rooms from Motion (RfM) operates on a collection of un-posed images. By replacing the standard 2D keypoint-based matcher of structure-frommotion with an object-centric matcher based on image-derived 3D boxes, we estimate metric camera poses, object tracks, and finally produce a global, semantic 3D object map. When a priori pose is available, we can significantly improve map quality through optimization of global 3D boxes against individual observations. RfM shows strong localization performance and subsequently produces maps of higher quality than leading point-based and multi-view 3D object detection methods on CA-1M and ScanNet++, despite these global methods relying on overparameterization through point clouds or dense volumes. Rooms from Motion achieves an object-centric representation which allows for inherently sparse localization and parametric mapping proportional to the number of objects in a scene.

We introduce TAPIP3D, a novel approach for long-term 3D point tracking in monocular RGB and RGB-D videos. TAPIP3D represents videos as camerastabilized spatio-temporal feature clouds, leveraging depth and camera motion information to lift 2D video features into a 3D world space where camera movement is effectively canceled out. Within this stabilized 3D representation, TAPIP3D iteratively refines multi-frame motion estimates, enabling robust point tracking over long time horizons.

Dynamic Novel View Synthesis aims to generate photorealistic views of moving subjects from arbitrary viewpoints. This task is particularly challenging when relying on monocular video, where disentangling structure from motion is ill-posed and supervision is scarce. We introduce Video Diffusion-Aware Reconstruction (ViDAR), a novel 4D reconstruction framework that leverages personalised image diffusion models to synthesise pseudo multi-view supervision signals for training a Gaussian splatting representation. By conditioning on scene-specific features, ViDAR recovers fine-grained appearance details while mitigating artefacts introduced by monocular ambiguity. To address the spatio-temporal inconsistency of diffusion-based supervision, we propose a diffusion-aware loss function and a camera pose optimisation strategy that aligns synthetic views with the underlying scene geometry. Experiments on DyCheck, a challenging benchmark with extreme viewpoint variation, show that ViDAR outperforms all state-of-the-art baselines in visual quality and geometric consistency. We further highlight ViDAR's strong improvement over baselines on dynamic regions and provide a new benchmark to compare performance in reconstructing motion-rich parts of the scene.

Geometric models like DUSt3R have shown great advances in understanding the geometry of a scene from pairs of photos. However, they fail when the inputs are from vastly different viewpoints (e.g., aerial vs. ground) or modalities (e.g., photos vs. abstract drawings) compared to what was observed during training. This paper addresses a challenging version of this problem: predicting correspondences between ground-level photos and floor plans. Current datasets for joint photo-floor plan reasoning are limited, either lacking in varying modalities (VIGOR) or lacking in correspondences (WAFFLE). To address these limitations, we introduce a new dataset, C3, created by first reconstructing a number of scenes in 3D from Internet photo collections via structure-from-motion, then manually registering the reconstructions to floor plans gathered from the Internet, from which we can derive correspondences between images and floor plans.

Recent advances in 3DGaussian Splatting (3DGS) have enabled real-time, highfidelity view synthesis, but remain critically dependent on camera poses estimated by Structure-from-Motion (SfM), which is notoriously unreliable in textureless indoor environments. To eliminate this dependency, recent pose-free variants have been proposed, yet they often fail under abrupt camera motion due to unstable initialization and purely photometric objectives. In this work, we introduce NopeRoomGS, an optimization framework with no need for camera pose inputs, which effectively addresses the textureless regions and abrupt camera motion in indoor room environments through a local-to-global optimization paradigm for 3DGS reconstruction. In the local stage, we propose a lightweight local neural geometric representation to bootstrap a set of reliable local 3DGaussians for separated short video clips, regularized by multi-frame tracking constraints and foundation model depth priors. This enables reliable initialization even in textureless regions or under abrupt camera motions. In the global stage, we fuse local 3DGaussians into a unified 3DGS representation through an alternating optimization strategy that jointly refines camera poses and Gaussian parameters, effectively mitigating gradient interference between them. Furthermore, we decompose camera pose optimization based on a piecewise planarity assumption, further enhancing robustness under abrupt camera motion.

We tackle the task of recovering an animatable 3D human avatar from a single or a sparse set of images. For this task, beyond a set of images, many prior state-of-theart methods use accurate "ground-truth" camera poses and human poses as input to guide reconstruction at test-time. We show that pose-dependent reconstruction degrades results significantly if pose estimates are noisy. To overcome this, we introduce NoPo-Avatar, which reconstructs avatars solely from images, without any pose input. By removing the dependence of test-time reconstruction on human poses, NoPo-Avatar is not affected by noisy human pose estimates, making it more widely applicable.

Today, people can easily record memorable moments, ranging from concerts, sports events, lectures, family gatherings, and birthday parties with multiple consumer cameras. However, synchronizing these cross-camera streams remains challenging. Existing methods assume controlled settings, specific targets, manual correction, or costly hardware. We present VisualSync, an optimization framework based on multi-view dynamics that aligns unposed, unsynchronized videos at millisecond accuracy. Our key insight is that any moving 3D point, when co-visible in two cameras, obeys epipolar constraints once properly synchronized.

Neural techniques radiance to reconstruct fields (NeRF) and render and 3D photorealistic Gaussian Splatting images. Ho (3DGS) wever, are the popular prerequisite completeness.

We introduce Oxford Day-and-Night, a large-scale, egocentric dataset for novel view synthesis (NVS) and visual relocalisation under challenging lighting conditions. Existing datasets often lack crucial combinations of features such as ground-truth 3D geometry, wide-ranging lighting variation, and full 6DoF motion. Oxford Day-and-Night addresses these gaps by leveraging Meta ARIA glasses to capture egocentric video and applying multi-session SLAM to estimate camera poses, reconstruct 3D point clouds, and align sequences captured under varying lighting conditions, including both day and night. The dataset spans over 30 km of recorded trajectories and covers an area of 40,000 m2, offering a rich foundation for egocentric 3D vision research. It supports two core benchmarks, NVS and relocalisation, providing a unique platform for evaluating models in realistic and diverse environments.