Computer Vision and Geometry Group

SpaceControl: Introducing Test-Time Spatial Control to 3D Generative Modeling

Conference: ICLR 2026

Authors: Elisabetta Fedele , Francis Engelmann , Ian Huang , Or Litany , Marc Pollefeys , Leonidas Guibas

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Paper

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YoNoSplat: You Only Need One Model for Feedforward 3D Gaussian Splatting

Conference: ICLR 2026

Authors: Botao Ye , Boqi Chen , Haofei Xu , Daniel Barath , Marc Pollefeys

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Paper

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Global Structure-from-Motion Meets Feedforward Reconstruction

Conference: CVPR 2026

Authors: Linfei Pan , Johannes Schönberger , Marc Pollefeys

Unblur-SLAM: Dense Neural SLAM for Blurry Inputs

Conference: CVPR 2026

Authors: Qi Zhang , Denis Rozumny , Francesco Girlanda , Sezer Karaoglu , Marc Pollefeys , Theo Gevers , Martin R. Oswald

Code

OVI-MAP: Open-Vocabulary Instance-Semantic Mapping

Conference: CVPR 2026

Authors: Zilong Deng , Federico Tombari , Marc Pollefeys , Johanna Wald , Daniel Barath

Code

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning

Conference: CVPR 2026

Authors: Zhengyu Fu , René Zurbrügg , Kaixian Qu , Marc Pollefeys , Marco Hutter , Hermann Blum , Zuria Bauer

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation

Conference: CVPR 2026

Authors: Tim Engelbracht , René Zurbrügg , Matteo Wohlrapp , Martin Büchner , Abhinav Valada , Marc Pollefeys , Hermann Blum , Zuria Bauer

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Paper

DROID-SLAM in the Wild

Conference: CVPR 2026

Authors: Moyang Li , Zihan Zhu , Marc Pollefeys , Daniel Barath

Project

From Indoor to Open World: Revealing the Spatial Reasoning Gap in MLLMs

Conference: CVPR 2026

Authors: Mingrui Wu , Zhaozhi Wang , Fangjinhua Wang , Jiaolong Yang , Marc Pollefeys , Tong Zhang

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Reconstructing Functional 3D Scenes from Egocentric Interaction Videos

Conference: CVPR 2026

Authors: Alexandros Delitzas , Chenyangguang Zhang , Alexey Gavryushin , Tommaso Di Mario , Boyang Sun , Rishabh Dabral , Leonidas Guibas , Christian Theobalt , Marc Pollefeys , Francis Engelmann , Daniel Barath

LightGlueStick: A Fast and Robust Glue for Joint Point-Line Matching

Conference: ICCV 2025

Authors: Adilet Ubingazhibov , Rémi Pautrat , Iago Suárez , Shaohui Liu , Marc Pollefeys , Viktor Larsson

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HouseTour: A Virtual Real Estate AI Agent

Conference: ICCV 2025

Authors: Ata Çelen , Marc Pollefeys , Daniel Barath , Iro Armeni

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Paper

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Planar Affine Rectification from Local Change of Scale and Orientation

Conference: ICCV 2025

Authors: Yuval Nissan , Marc Pollefeys , Daniel Barath

Paper

Benchmarking Egocentric Visual-Inertial SLAM at City Scale

Conference: ICCV 2025

Authors: Anusha Krishnan , Shaohui Liu , Paul-Edouard Sarlin , Oscar Gentilhomme , David Caruso , Maurizio Monge , Richard Newcombe , Jakob Engel , Marc Pollefeys

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Multi-View 3D Point Tracking

Conference: ICCV 2025

Authors: Frano Rajič , Haofei Xu , Marko Mihajlovic , Siyuan Li , Irem Demir , Emircan Gündoğdu , Lei Ke , Sergey Prokudin , Marc Pollefeys , Siyu Tang

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3D-MOOD: Lifting 2D to 3D for Monocular Open-Set Object Detection

Conference: ICCV 2025

Authors: Yung-Hsu Yang , Luigi Piccinelli , Mattia Segu , Siyuan Li , Rui Huang , Yuqian Fu , Marc Pollefeys , Hermann Blum , Zuria Bauer

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Paper

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Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras

Conference: ICCV 2025

Authors: Petr Hruby , Marc Pollefeys

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CL-Splats: Continual Learning of Gaussian Splatting with Local Optimization

Conference: ICCV 2025

Authors: Jan Ackermann , Jonas Kulhanek , Shengqu Cai , Haofei Xu , Marc Pollefeys , Gordon Wetzstein , Leonidas Guibas , Songyou Peng

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Paper

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EgoM2P: Egocentric Multimodal Multitask Pretraining

Conference: ICCV 2025

Authors: Gen Li , Yutong Chen , Yiqian Wu , Kaifeng Zhao , Marc Pollefeys , Siyu Tang

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Paper

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FlowR: Flowing from Sparse to Dense 3D Reconstructions

Conference: ICCV 2025 (Highlight)

Authors: Tobias Fischer , Samuel Rota Bulò , Yung-Hsu Yang , Nikhil Keetha , Lorenzo Porzi , Norman Müller , Katja Schwarz , Jonathon Luiten , Marc Pollefeys , Peter Kontschieder

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SuperDec: 3D Scene Decomposition with Superquadrics Primitives

Conference: ICCV 2025

Authors: Elisabetta Fedele , Boyang Sun , Leonidas Guibas , Marc Pollefeys , Francis Engelmann

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Paper

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DepthSplat: Connecting Gaussian Splatting and Depth

Conference: CVPR 2025

Authors: Haofei Xu , Songyou Peng , Fangjinhua Wang , Hermann Blum , Daniel Barath , Andreas Geiger , Marc Pollefeys

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Paper

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Structure-From-Motion with a Non-Parametric Camera Model

Conference: CVPR 2025

Authors: Yihan Wang , Linfei Pan , Marc Pollefeys , Viktor Larsson

Paper

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CroCoDL: Cross-Device Collaborative Dataset for Localization

Conference: CVPR 2025

Authors: Hermann Blum , Alessandro Mercurio , Joshua O'Reilly , Tim Engelbracht , Mihai Dusmanu , Marc Pollefeys , Zuria Bauer

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Paper

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ForesightNav: Learning Scene Imagination for Efficient Exploration

Conference: CVPR 2025

Authors: Hardik Shah , Jiaxu Xing , Nico Messikommer , Boyang Sun , Marc Pollefeys , Davide Scaramuzza

Paper

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WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments

Conference: CVPR 2025

Authors: Jianhao Zheng , Zihan Zhu , Valentino Bieri , Marc Pollefeys , Songyou Peng , Iro Armeni

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Paper

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MP-SfM: Monocular Surface Priors for Robust Structure-from-Motion

Conference: CVPR 2025

Authors: Zador Pataki , Paul-Edouard Sarlin , Johannes L. Schönberger , Marc Pollefeys

Paper

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Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces

Conference: CVPR 2025

Authors: Chenyangguang Zhang , Alexandros Delitzas , Fangjinhua Wang , Ruida Zhang , Xiangyang Ji , Marc Pollefeys , Francis Engelmann

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Paper

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VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation

Conference: CVPR 2025

Authors: Hanzhi Chen , Boyang Sun , Anbang Zhang , Marc Pollefeys , Stefan Leutenegger

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Paper

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CrossOver: 3D Scene Cross-Modal Alignment

Conference: CVPR 2025

Authors: Sayan Deb Sarkar , Ondrej Miksik , Marc Pollefeys , Daniel Barath , Iro Armeni

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Paper

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Relative Pose Estimation through Affine Corrections of Monocular Depth Priors

Conference: CVPR 2025

Authors: Yaqing Yu , Shaohui Liu , Rémi Pautrat , Marc Pollefeys , Viktor Larsson

Paper

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R-Score: Revisiting Scene Coordinate Regression for Robust Large-Scale Visual Localization

Conference: CVPR 2025

Authors: Xudong Jiang , Fangjinhua Wang , Silvano Galliani , Christoph Vogel , Marc Pollefeys

Paper

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GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control

Conference: CVPR 2025

Authors: Mariam Hassan , Sebastian Stapf , Ahmad Rahimi , Pedro M B Rezende , Yasaman Haghighi , David Brüggemann , Isinsu Katircioglu , Lin Zhang , Xiaoran Chen , Suman Saha , Marco Cannici , Elie Aljalbout , Botao Ye , Xi Wang , Aram Davtyan , Mathieu Salzmann , Davide Scaramuzza , Marc Pollefeys , Paolo Favaro , Alexandre Alahi

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Learning to Filter Outlier Edges in Global SfM

Conference: CVPR 2025

Authors: Nicolas Damblon , Marc Pollefeys , Daniel Baráth

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ARKit LabelMaker: A New Scale for Indoor 3D Scene Understanding

Conference: CVPR 2025

Authors: Guangda Ji , Silvan Weder , Francis Engelmann , Marc Pollefeys , Hermann Blum

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Paper

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EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Vision

Conference: CVPR 2025

Authors: Yiming Zhao , Taein Kwon , Paul Streli , Marc Pollefeys , Christian Holz

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Paper

Synthesizing Consistent Novel Views via 3D Epipolar Attention without Re-Training

Conference: 3DV 2025

Authors: Botao Ye , Sifei Liu , Xueting Li , Marc Pollefeys , Ming-Hsuan Yang

Paper

EgoGaussian: Dynamic Scene Understanding from Egocentric Video with 3D Gaussian Splatting

Conference: 3DV 2025

Authors: Daiwei Zhang , Gengyan Li , Jiajie Li , Mickaël Bressieux , Otmar Hilliges , Marc Pollefeys , Luc Van Gool , Xi Wang

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Paper

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Alster: A Local Spatio-Temporal Expert for Online 3D Semantic Reconstruction

Conference: WACV 2025

Authors: Silvan Weder , Francis Engelmann , Johannes L. Schönberger , Akihito Seki , Marc Pollefeys , Martin R. Oswald

Paper

Spotlight: Robotic Scene Understanding through Interaction and Affordance Detection

Conference: Humanoids 2025

Authors: Tim Engelbracht , René Zurbrügg , Marc Pollefeys , Hermann Blum , Zuria Bauer

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Paper

Towards Egocentric Understanding of Surgery

Conference: ICICV 2025

Authors: Ahmetcan Yavuz , Cagatay Gultekin , Xi Wang , Marc Pollefeys , Matthias Seibold , Philipp Fürnstahl , Fabio Carrillo , Manuel Kaufmann

Paper

EPFL-Smart-Kitchen-30: Densely Annotated Cooking Dataset with 3D Kinematics to Challenge Video and Language Models

Conference: NeurIPS 2025

Authors: Andy Bonnetto , Haozhe Qi , Franklin Leong , Matea Tashkovska , Mahdi Rad , Solaiman Shokur , Friedhelm Hummel , Silvestro Micera , Marc Pollefeys , Alexander Mathis

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Paper

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SNI-SLAM++: Tightly-Coupled Semantic Neural Implicit SLAM

Conference: IEEE TPAMI 2025

Authors: Siting Zhu , Guangming Wang , Hermann Blum , Zhenyu Wang , Guangya Zhang , Daniel Cremers , Marc Pollefeys , Hesheng Wang

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Paper

Lightweight and Accurate Multi-View Stereo with Confidence-Aware Diffusion Model

Conference: IEEE TPAMI 2025

Authors: Fangjinhua Wang , Qingtian Xu , Yew-Soon Ong , Marc Pollefeys

Paper

Code

Generalized Relative Pose and Scale from Affine Correspondences

Conference: IJCV 2025

Authors: Wentao Xu , Xin Zhang , Marc Pollefeys , Daniel Barath , Laurent Kneip

Paper

Code

Nothing Stands Still: A Spatiotemporal Benchmark on 3D Point Cloud Registration Under Large Geometric and Temporal Change

Conference: ISPRS Journal 2025

Authors: Tao Sun , Yan Hao , Shengyu Huang , Silvio Savarese , Konrad Schindler , Marc Pollefeys , Iro Armeni

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Paper

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Next-Generation Surgical Navigation: Marker-less Multi-View 6DoF Pose Estimation of Surgical Instruments

Conference: Medical Image Analysis 2025

Authors: Jonas Hein , Nicola Cavalcanti , Daniel Suter , Lukas Zingg , Fabio Carrillo , Lilian Calvet , Mazda Farshad , Marc Pollefeys , Nassir Navab , Philipp Fürnstahl

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Paper

FrontierNet: Learning Visual Cues to Explore

Conference: IEEE RA-L 2025

Authors: Boyang Sun , Hanzhi Chen , Stefan Leutenegger , Cesar Cadena , Marc Pollefeys , Hermann Blum

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Paper

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Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs

Conference: IEEE RA-L 2025

Authors: Tim Behrens , René Zurbrügg , Marc Pollefeys , Zuria Bauer , Hermann Blum

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Paper

No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Images

Conference: ICLR 2025

Authors: Botao Ye , Sifei Liu , Haofei Xu , Xueting Li , Marc Pollefeys , Ming-Hsuan Yang , Songyou Peng

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Paper

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UniSDF: Unifying Neural Representations for High-Fidelity 3D Reconstruction of Complex Scenes with Reflections

Conference: NeurIPS 2024

Authors: Fangjinhua Wang , Marie-Julie Rakotosaona , Michael Niemeyer , Richard Szeliski , Marc Pollefeys , Federico Tombari

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Paper

Spherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation

Conference: NeurIPS 2024

Authors: Yu Zheng , Guangming Wang , Jiuming Liu , Marc Pollefeys , Hesheng Wang

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NeRFmentation: NeRF-based Augmentation for Monocular Depth Estimation

Conference: ECCV 2024

Authors: Casimir Feldmann , Niall Siegenheim , Nikolas Hars , Lovro Rabuzin , Mert Ertugrul , Luca Wolfart , Marc Pollefeys , Zuria Bauer , Martin R. Oswald

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Paper

Space3D-Bench: Spatial 3D Question Answering Benchmark

Conference: ECCV 2024

Authors: Emilia Szymańska , Mihai Dusmanu , Jan Willem Buurlage , Mahdi Rad , Marc Pollefeys

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Paper

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Stereoglue: Robust estimation with single-point solvers

Conference: ECCV 2024

Authors: Daniel Barath , Dmytro Mishkin , Luca Cavalli , Paul-Edouard Sarlin , Petr Hruby , Marc Pollefeys

Paper

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Semicalibrated Relative Pose from an Affine Correspondence and Monodepth

Conference: ECCV 2024

Authors: Petr Hruby , Marc Pollefeys , Daniel Barath

Paper

Diffusion Bridges for 3D Point Cloud Denoising

Conference: ECCV 2024

Authors: Mathias Vogel Hüni , Keisuke Tateno , Marc Pollefeys , Federico Tombari , Marie-Julie Rakotosaona , Francis Engelmann

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Paper

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SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs

Conference: ECCV 2024

Authors: Yang Miao , Francis Engelamann , Olga Vysotksa , Federico Tombari , Marc Pollefeys , Daniel Barath

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Paper

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MaRINeR: Enhancing Novel Views by Matching Rendered Images with Nearby References

Conference: ECCV 2024

Authors: Lukas Böliger , Mihai Dusmanu , Marc Pollefeys , Zuria Bauer

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Paper

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WorldPose: A World Cup Dataset for Global 3D Human Pose Estimation

Conference: ECCV 2024

Authors: Tianjian Jiang , Johsan Billingham , Sebastian Müksch , Juan Zarate , Nicolas Evans , Martin Oswald , Otmar Hilliges , Manuel Kaufmann , Jie Song

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Paper

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MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images

Conference: ECCV 2024

Authors: Yuedong Chen , Haofei Xu , Chuanxia Zheng , Bohan Zhuang , Marc Pollefeys , Andreas Geiger , Tat-Jen Cham , Jianfei Cai

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Paper

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Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels

Conference: ECCV 2024

Authors: Rui Huang , Songyou Peng , Ayca Takmaz , Federico Tombari , Marc Pollefeys , Shiji Song , Gao Huang , Francis Engelmann

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Paper

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Robust Incremental Structure-from-Motion with Hybrid Features

Conference: ECCV 2024

Authors: Shaohui Liu , Yidan Gao , Tianyi Zhang , Remi Pautrat , Johannes Schönberger , Viktor Larsson , Marc Pollefeys

Paper

"Where am I?" Scene Retrieval with Language

Conference: ECCV 2024

Authors: Jiaqi Chen , Daniel Barath , Iro Armeni , Marc Pollefeys , Hermann Blum

Paper

MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps

Conference: ECCV 2024

Authors: Jianhao Zheng , Daniel Barath , Marc Pollefeys , Iro Armeni

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Paper

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MICDrop: Masking Image and Depth Features via Complementary Dropout for Domain-Adaptive Semantic Segmentation

Conference: ECCV 2024

Authors: Linyan Yang , Lukas Hoyer , Mark Weber , Tobias Fischer , Dengxin Dai , Laura Leal-Taixe , Daniel Cremers , Marc Pollefeys , Luc Van Gool

Paper

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GeoCalib: Learning Single-image Calibration with Geometric Optimization

Conference: ECCV 2024

Authors: Alexander Veicht , Paul-Edouard Sarlin , Philipp Lindenberger , Marc Pollefeys

Paper

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Global Structure-from-Motion Revisited

Conference: ECCV 2024

Authors: Linfei Pan , Johannes Schönberger , Daniel Barath , Marc Pollefeys

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Paper

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Gravity-aligned Rotation Averaging with Circular Regression

Conference: ECCV 2024

Authors: Linfei Pan , Marc Pollefeys , Daniel Barath

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Learning to Find Sub-Pixel Accurate Keypoints

Conference: ECCV 2024

Authors: Shinjeong Kim , Marc Pollefeys , Daniel Barath

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Retrieval Robust to Object Motion Blur

Conference: ECCV 2024

Authors: Rong Zhou , Marc Pollefeys , Denys Rozumnyi

Paper

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Learning Where to Look: Self-supervised Viewpoint Selection for Active Localization using Geometrical Information

Conference: ECCV 2024

Authors: Luca Di Giammarino , Boyang Sun , Marc Pollefeys , Giorgio Grisetti , Hermann Blum , Daniel Barath

Paper

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Volumetric Semantically Consistent 3D Panoptic Mapping

Conference: IROS 2024

Authors: Miao Yang , Iro Armeni , Marc Pollefeys , Daniel Barath

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CR3DT: Camera-RADAR Fusion for 3D Detection and Tracking

Conference: IROS 2024

Authors: Jonas Kühne , Nicolas Baumann , Michael Baumgartner , Ghignone Edoardo , Tobias Fischer , Yung-Hsu Yang , Marc Pollefeys , Michele Magno

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PickScan: Object discovery and reconstruction from handheld interactions

Conference: IROS 2024

Authors: Vincent Van der Brugge , Marc Pollefeys , Joshua B. Tenenbaum , Ayush Tewari , Krishna Murthy Jatavallabhula

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Semantically Guided Feature Matching for Visual SLAM

Conference: ICRA 2024

Authors: Oguzhan Ilter , Iro Armeni , Marc Pollefeys , Daniel Barath

Paper

A 3D Mixed Reality Interface for Human-Robot Teaming

Conference: ICRA 2024

Authors: Jianeng Chen , Boyang Sun , Marc Pollefeys , Hermann Blum

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Active Visual Localization for Multi-Agent Collaboration: A Data-Driven Approach

Conference: ICRA 2024

Authors: Matthew Hanlon , Boyang Sun , Marc Pollefeys , Hermann Blum

Paper

Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization

Conference: ICRA 2024

Authors: Le Chen , Weirong Chen , Rui Wang , Marc Pollefeys

Paper

Creating a Digital Twin of Spinal Surgery: A Proof of Concept

Conference: CVPR 2024 Workshop

Authors: Jonas Hein , Frédéric Giraud , Lilian Calvet , Alexander Schwarz , Nicola Alessandro Cavalcanti , Sergey Prokudin , Mazda Farshad , Siyu Tang , Marc Pollefeys , Fabio Carrillo , Philipp Fürnstahl

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Paper

LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry

Conference: CVPR 2024

Authors: Weirong Chen , Le Chen , Rui Wang , Marc Pollefeys

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Paper

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MuRF: Multi-Baseline Radiance Fields

Conference: CVPR 2024

Authors: Haofei Xu , Anpei Chen , Yuedong Chen , Christos Sakaridis , Yulun Zhang , Marc Pollefeys , Andreas Geiger , Fisher Yu

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Paper

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Know Your Neighbors: Improving Single-View Reconstruction via Spatial Vision-Language Reasoning

Conference: CVPR 2024

Authors: Rui Li , Tobias Fischer , Mattia Segu , Marc Pollefeys , Luc Van Gool , Federico Tombari

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Paper

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Sat2Scene: 3D Urban Scene Generation from Satellite Images with Diffusion

Conference: CVPR 2024

Authors: Zuoyue Li , Zhenqiang Li , Zhaopeng Cui , Marc Pollefeys , Martin R. Oswald

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Paper

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Multiway Point Cloud Mosaicking with Diffusion and Global Optimization

Conference: CVPR 2024

Authors: Shengze Jin , Iro Armeni , Marc Pollefeys , Daniel Barath

Paper

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Multi-Level Neural Scene Graphs for Dynamic Urban Environments

Conference: CVPR 2024

Authors: Tobias Fischer , Lorenzo Porzi , Samuel Rota Bulò , Marc Pollefeys , Peter Kontschieder

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Paper

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SNI-SLAM: Semantic Neural Implicit SLAM

Conference: CVPR 2024

Authors: Siting Zhu , Guangming Wang , Hermann Blum , Jiuming Liu , LiangSong , Marc Pollefeys , Hesheng Wang

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3D Neural Edge Reconstruction

Conference: CVPR 2024

Authors: Lei Li , Songyou Peng , Zehao Yu , Shaohui Liu , Rémi Pautrat , Xiaochuan Yin , Marc Pollefeys

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Paper

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EgoGen: An Egocentric Synthetic Data Generator

Conference: CVPR 2024

Authors: Gen Li , Kaifeng Zhao , Siwei Zhang , Xiaozhong Lyu , Mihai Dusmanu , Yan Zhang , Marc Pollefeys , Siyu Tang

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Paper

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GLACE: Global Local Accelerated Coordinate Encoding

Conference: CVPR 2024

Authors: Fangjinhua Wang , Xudong Jiang , Silvano Galliani , Christoph Vogel , Marc Pollefeys

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Paper

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F^3Loc: Fusion and Filtering for Floorplan Localization

Conference: CVPR 2024

Authors: Changan Chen , Rui Wang , Christoph Vogel , Marc Pollefeys

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Paper

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NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wild

Conference: CVPR 2024

Authors: Weining Ren , Zihan Zhu , Boyang Sun , Jiaqi Chen , Marc Pollefeys , Songyou Peng

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Paper

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GeneAvatar: Generic Expression-Aware Volumetric Head Avatar Editing from a Single Image

Conference: CVPR 2024

Authors: Chong Bao , Yinda Zhang , Yuan Li , Xiyu Zhang , Bangbang Yang , Hujun Bao , Marc Pollefeys , Guofeng Zhang , Zhaopeng Cui

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Paper

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Absolute Pose from One or Two Scaled and Oriented Features

Conference: CVPR 2024

Authors: Jonathan Ventura , Zuzana Kukelova , Torsten Sattler , Daniel Barath

Paper

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DGC-GNN: Leveraging Geometry and Color Cues for Visual Descriptor-Free 2D-3D Matching

Conference: CVPR 2024

Authors: Shuzhe Wang , Juho Kannala , Daniel Barath

Paper

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Efficient Solution of Point-Line Absolute Pose

Conference: CVPR 2024

Authors: Petr Hruby , Timothy Duff , Marc Pollefeys

Paper

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SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes

Conference: CVPR 2024 (Oral)

Authors: Alexandros Delitzas , Ayca Takmaz , Federico Tombari , Robert Sumner , Marc Pollefeys , Francis Engelmann

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Paper

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Handbook on Leveraging Lines for Two-View Relative Pose Estimation

Conference: 3DV 2024

Authors: Petr Hruby , Shaohui Liu , Rémi Pautrat , Marc Pollefeys , Daniel Barath

Paper

Q-REG: End-to-End Trainable Point Cloud Registration with Surface Curvature

Conference: 3DV 2024

Authors: Shengze Jin , Daniel Barath , Marc Pollefeys , Iro Armeni

Paper

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NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM

Conference: 3DV 2024 (Oral, Best Paper Honorable Mention)

Authors: Zihan Zhu* , Songyou Peng* , Viktor Larsson , Zhaopeng Cui , Martin R. Oswald , Andreas Geiger , Marc Pollefeys

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Paper

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LabelMaker: Automatic Semantic Label Generation from RGB-D

Conference: 3DV 2024

Authors: Silvan Weder , Hermann Blum , Francis Engelmann , Marc Pollefeys

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Paper

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OpenMask3D: Open-Vocabulary 3D Instance Segmentation

Conference: NeurIPS 2023

Authors: Ayca Takmaz , Elisabetta Fedele , Robert Sumner , Marc Pollefeys , Federico Tombari , Francis Engelmann

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Paper

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3D Segmentation of Humans in Point Clouds with Synthetic Data

Conference: ICCV 2023

Authors: Ayça Takmaz , Jonas Schult , Irem Kaftan , Mertcan Akçay , Bastian Leibe , Robert Sumner , Francis Engelmann , Siyu Tang

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Paper

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Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries

Conference: CVPR 2023

Authors: Yuanwen Yue , Theodora Kontogianni , Konrad Schindler , Francis Engelmann

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Paper

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Mask3D: Mask Transformer for 3D Semantic Instance Segmentation

Conference: ICRA 2023

Authors: Jonas Schult , Francis Engelmann , Alexander Hermans , Or Litany , Siyu Tang , Bastian Leibe

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Paper

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Privacy Preserving Localization via Coordinate Permutations

Conference: ICCV 2023

Authors: Linfei Pan , Johannes L. Schönberger , Viktor Larsson , Marc Pollefeys

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Paper

OpenScene: 3D Scene Understanding with Open Vocabularies

Conference: CVPR 2023

Authors: Songyou Peng , Kyle Genova , Chiyu ''Max'' Jiang , Andrea Tagliasacchi , Marc Pollefeys , Thomas Funkhouser

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Paper

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GlueStick: Robust Image Matching by Sticking Points and Lines Together

Conference: ICCV 2023

Authors: Rémi Pautrat , Iago Suárez , Yifan Yu , Marc Pollefeys , Viktor Larsson

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Paper

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Vanishing Point Estimation in Uncalibrated Images with Prior Gravity Direction

Conference: ICCV 2023

Authors: Rémi Pautrat , Shaohui Liu , Petr Hruby , Marc Pollefeys , Daniel Barath

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Paper

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3D Line Mapping Revisited

Conference: CVPR 2023 (Highlight)

Authors: Shaohui Liu , Yifan Yu , Rémi Pautrat , Marc Pollefeys , Viktor Larsson

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Paper

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DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients

Conference: CVPR 2023

Authors: Rémi Pautrat , Dániel Béla Baráth , Viktor Larsson , Martin R. Oswald , Marc Pollefeys

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Paper

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Four-view Geometry with Unknown Radial Distortion

Conference: CVPR 2023

Authors: Petr Hruby , Viktor Korotynskiy , Timothy Duff , Marc Pollefeys , Tomas Pajdla , Viktor Larsson

Paper

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VolRecon: Volume Rendering of Signed Ray Distance Functions for Generalizable Multi-View Reconstruction

Conference: CVPR 2023

Authors: Yufan Ren , Fangjinhua Wang , Tong Zhang , Marc Pollefeys , Sabine Süsstrunk

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Paper

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SGAligner: 3D Scene Alignment with Scene Graphs

Conference: ICCV 2023

Authors: S. D. Sarkar , O. Miksik , M. Pollefeys , D. Barath , I. Armeni

Project

Paper

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Guiding Local Feature Matching with Surface Curvature

Conference: ICCV 2023

Authors: S. D. Sarkar , O. Miksik , M. Pollefeys , D. Barath , I. Armeni

Paper

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Adaptive Reordering Sampler with Neurally Guided MAGSAC

Conference: ICCV 2023

Authors: T. Wei , J. Matas , D. Barath

Paper

Code

Fast Globally Optimal Surface Normal Estimation from an Affine Correspondence

Conference: ICCV 2023

Authors:

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Paper

Generalized Differentiable RANSAC

Conference: ICCV 2023

Authors: L. Hajder , L. Lóczi , D. Barath

Paper

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P1AC: Revisiting absolute pose from a single affine correspondence

Conference: ICCV 2023 (oral)

Authors: J. Ventura , Z. Kukelova , T. Sattler , D. Barath

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Box2Mask: Weakly Supervised 3D Semantic Instance Segmentation Using Bounding Boxes

Conference: ECCV 2022 (Oral)

Authors: Julian Chibane , Francis Engelmann , Tuan Anh Tran , Gerard Pons-Moll

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Camera Pose Estimation using Implicit Distortion Models

Conference: CVPR 2022

Authors: Linfei Pan , Marc Pollefeys , Viktor Larsson

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NICE-SLAM: Neural Implicit Scalable Encoding for SLAM

Conference: CVPR 2022

Authors: Zihan Zhu* , Songyou Peng* , Viktor Larsson , Weiwei Xu , Hujun Bao , Zhaopeng Cui , Martin R. Oswald , Marc Pollefeys

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Learning to Solve Hard Minimal Problems

Conference: CVPR 2022 (Best Paper Award)

Authors: Petr Hruby , Timothy Duff , Anton Leykin , Tomas Pajdla

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IterMVS: Iterative Probability Estimation for Efficient Multi-View Stereo

Conference: CVPR 2022

Authors: Fangjinhua Wang , Silvano Galliani , Christoph Vogel , Marc Pollefeys

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Mix3D: Out-of-Context Data Augmentation for 3D Scenes

Conference: 3DV 2021

Authors: Alexey Nekrasov , Jonas Schult , Or Litany , Bastian Leibe , Francis Engelmann

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Shape As Points: A Differentiable Poisson Solver

Conference: NeurIPS 2021 (Oral, top 0.6%)

Authors: Songyou Peng , Chiyu 'Max' Jiang , Yiyi Liao , Michael Niemeyer , Marc Pollefeys , Andreas Geiger

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SOLD²: Self-supervised Occlusion-aware Line Description and Detection

Conference: CVPR 2021

Authors: Rémi Pautrat , Juan-Ting Lin , Viktor Larsson , Martin R. Oswald , Marc Pollefeys

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PatchmatchNet: Learned Multi-View Patchmatch Stereo

Conference: 2021 (Oral)

Authors: Fangjinhua Wang , Silvano Galliani , Christoph Vogel , Pablo Speciale , Marc Pollefeys

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Compression and Completion of Animated Point Clouds using Topological Properties of the Manifold

Conference: 3DV 2020

Authors: Linfei Pan , Ľubor Ladický , Marc Pollefeys

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Convolutional Occupancy Networks

Conference: ECCV 2020 (Spotlight, top 5%)

Authors: Songyou Peng , Michael Niemeyer , Lars Mescheder , Marc Pollefeys , Andreas Geiger

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Online Invariance Selection for Local Feature Descriptors

Conference: ECCV 2020

Authors: Rémi Pautrat , Viktor Larsson , Martin R. Oswald , Marc Pollefeys

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Crowd-Guided Ensembles: How Can We Choreograph Crowd Workers for Video Segmentation?

Conference: ACM CHI 2018

Authors: Alexandre Kaspar , Genevieve Patterson , Changil Kim , Yagiz Aksoy , Wojciech Matusik , Mohamed Elgharib

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Designing Effective Inter-Pixel Information Flow for Natural Image Matting

Conference: CVPR 2017

Authors: Yagiz Aksoy , Aydin Tunc Ozan , Marc Pollefeys

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Semantic Multi-view Stereo: Jointly Estimating Objects and Voxels

Conference: CVPR 2017

Authors: Ali Osman Ulusoy , Michael Black , Andreas Geiger

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Bounding Boxes, Segmentations and Object Coordinates: How Important is Recognition for 3D Scene Flow Estimation in Autonomous Driving Scenarios?

Conference: ICCV 2017

Authors: Aseem Behl , Omid Hosseini Jafari , Siva Karthik Mustikovela , Hassan Abu Alhaija , Carsten Rother , Andreas Geiger

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An Exploration of 2D and 3D Deep Learning Techniques for Cardiac MR Image Segmentation

Conference: International Workshop on Statistical Atlases and Computational Modelling of the Heart 2017

Authors: Christian F. Baumgartner , Lisa M. Koch , Marc Pollefeys , Ender Konukoglu

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Toroidal Constraints for Two Point Localization Under High Outlier Ratios

Conference: CVPR 2017

Authors: Federico Camposeco , Torsten Sattler , Andrea Cohen , Andreas Geiger , Marc Pollefeys

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OctNet: Learning Deep 3D Representations at High Resolutions

Conference: CVPR 2017

Authors: Gernot Riegler , Ali Osman Ulusoy , Andreas Geiger

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OctNetFusion: Learning Depth Fusion from Data

Conference: 3DV 2017

Authors: Gernot Riegler , Ali Osman Ulusoy , Horst Bischof , Andreas Geiger

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Augmented Reality Meets Deep Learning for Car Instance Segmentation in Urban Scenes

Conference: BMVC 2017

Authors: Hassan Abu Alhaija , Siva Karthik Mustikovela , Lars Mescheder , Andreas Geiger , Carsten Rother

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Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles

Conference: International Conference Field and Service Robotics 2017

Authors: Timo Hinzmann , Johannes Lutz Schonberger , Marc Pollefeys , Roland Siegwart

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Slow Flow: Exploiting High-Speed Cameras for Accurate and Diverse Optical Flow Reference Data

Conference: CVPR 2017

Authors: Joel Janai , Fatma Güney , Jonas Wulff , Michael Black , Andreas Geiger

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Sparsity Invariant CNNs

Conference: 3DV 2017

Authors: Jonas Uhrig , Nick Schneider , Lukas Schneider , Uwe Franke , Thomas Brox , Andreas Geiger

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Adversarial Variational Bayes: Unifying Variational Autoencoders and Generative Adversarial Networks

Conference: ICML 2017

Authors: Lars Mescheder , Sebastian Nowozin , Andreas Geiger

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The Numerics of GANs

Conference: NIPS 2017

Authors: Lars Mescheder , Sebastian Nowozin , Andreas Geiger

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Semantically Informed Multiview Surface Refinement

Conference: ICCV 2017

Authors: M. Blaha , M. Rothermel , M. R. Oswald , T. Sattler , A. Richard , J. D. Wegner , M. Pollefeys , K. Schindler

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AR Museum: A Mobile Augmented Reality Application for Interactive Painting Recoloring

Conference: International Conference on Game and Entertainment Technologies 2017

Authors: Mattia Ryffel , Fabio Zund , Yagiz Aksoy , Alessia Marra , Maurizio Nitti , Tunc Ozan Aydin , Bob Sumner

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Quad-Networks: Unsupervised Learning to Rank for Interest Point Detection

Conference: CVPR 2017

Authors: N. Savinov , A. Seki , L. Ladicky , T. Sattler , Marc Pollefeys

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Consensus Maximization with Linear Matrix Inequality Constraints

Conference: CVPR 2017

Authors: Pablo Speciale , Danda P. Paudel , Martin R. Oswald , Till Kroeger , Luc V. Gool , Marc Pollefeys

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Direct Visual Odometry for a Fisheye-Stereo Camera

Conference: IROS 2017

Authors: Peidong Liu , Lionel Heng , Torsten Sattler , Andreas Geiger , Marc Pollefeys

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Comparative Evaluation of Hand-Crafted and Learned Local Features

Conference: CVPR 2017

Authors: Johannes Lutz Schonberger , Hans Hardmeier , Torsten Sattler , Marc Pollefeys

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Publication

2026

SpaceControl: Introducing Test-Time Spatial Control to 3D Generative Modeling

YoNoSplat: You Only Need One Model for Feedforward 3D Gaussian Splatting

Global Structure-from-Motion Meets Feedforward Reconstruction

Unblur-SLAM: Dense Neural SLAM for Blurry Inputs

OVI-MAP: Open-Vocabulary Instance-Semantic Mapping

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation

DROID-SLAM in the Wild

From Indoor to Open World: Revealing the Spatial Reasoning Gap in MLLMs

Reconstructing Functional 3D Scenes from Egocentric Interaction Videos

2025

LightGlueStick: A Fast and Robust Glue for Joint Point-Line Matching

HouseTour: A Virtual Real Estate AI Agent

Planar Affine Rectification from Local Change of Scale and Orientation

Benchmarking Egocentric Visual-Inertial SLAM at City Scale

Multi-View 3D Point Tracking

3D-MOOD: Lifting 2D to 3D for Monocular Open-Set Object Detection

Single-Scanline Relative Pose Estimation for Rolling Shutter Cameras

CL-Splats: Continual Learning of Gaussian Splatting with Local Optimization

EgoM2P: Egocentric Multimodal Multitask Pretraining

FlowR: Flowing from Sparse to Dense 3D Reconstructions

SuperDec: 3D Scene Decomposition with Superquadrics Primitives

DepthSplat: Connecting Gaussian Splatting and Depth

Structure-From-Motion with a Non-Parametric Camera Model

CroCoDL: Cross-Device Collaborative Dataset for Localization

ForesightNav: Learning Scene Imagination for Efficient Exploration

WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments

MP-SfM: Monocular Surface Priors for Robust Structure-from-Motion

Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces

VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation

CrossOver: 3D Scene Cross-Modal Alignment

Relative Pose Estimation through Affine Corrections of Monocular Depth Priors

R-Score: Revisiting Scene Coordinate Regression for Robust Large-Scale Visual Localization

GEM: A Generalizable Ego-Vision Multimodal World Model for Fine-Grained Ego-Motion, Object Dynamics, and Scene Composition Control

Learning to Filter Outlier Edges in Global SfM

ARKit LabelMaker: A New Scale for Indoor 3D Scene Understanding

EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Vision

Synthesizing Consistent Novel Views via 3D Epipolar Attention without Re-Training

EgoGaussian: Dynamic Scene Understanding from Egocentric Video with 3D Gaussian Splatting

Alster: A Local Spatio-Temporal Expert for Online 3D Semantic Reconstruction

Spotlight: Robotic Scene Understanding through Interaction and Affordance Detection

Towards Egocentric Understanding of Surgery

EPFL-Smart-Kitchen-30: Densely Annotated Cooking Dataset with 3D Kinematics to Challenge Video and Language Models

SNI-SLAM++: Tightly-Coupled Semantic Neural Implicit SLAM

Lightweight and Accurate Multi-View Stereo with Confidence-Aware Diffusion Model

Generalized Relative Pose and Scale from Affine Correspondences

Nothing Stands Still: A Spatiotemporal Benchmark on 3D Point Cloud Registration Under Large Geometric and Temporal Change

Next-Generation Surgical Navigation: Marker-less Multi-View 6DoF Pose Estimation of Surgical Instruments

FrontierNet: Learning Visual Cues to Explore

Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs

No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Images

2024

UniSDF: Unifying Neural Representations for High-Fidelity 3D Reconstruction of Complex Scenes with Reflections

Spherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation

NeRFmentation: NeRF-based Augmentation for Monocular Depth Estimation

Space3D-Bench: Spatial 3D Question Answering Benchmark

Stereoglue: Robust estimation with single-point solvers

Semicalibrated Relative Pose from an Affine Correspondence and Monodepth

Diffusion Bridges for 3D Point Cloud Denoising

SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs

MaRINeR: Enhancing Novel Views by Matching Rendered Images with Nearby References

WorldPose: A World Cup Dataset for Global 3D Human Pose Estimation

MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images

Segment3D: Learning Fine-Grained Class-Agnostic 3D Segmentation without Manual Labels

Robust Incremental Structure-from-Motion with Hybrid Features

"Where am I?" Scene Retrieval with Language

MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps

MICDrop: Masking Image and Depth Features via Complementary Dropout for Domain-Adaptive Semantic Segmentation

GeoCalib: Learning Single-image Calibration with Geometric Optimization

Global Structure-from-Motion Revisited

Gravity-aligned Rotation Averaging with Circular Regression

Learning to Find Sub-Pixel Accurate Keypoints

Retrieval Robust to Object Motion Blur

Learning Where to Look: Self-supervised Viewpoint Selection for Active Localization using Geometrical Information

Volumetric Semantically Consistent 3D Panoptic Mapping

CR3DT: Camera-RADAR Fusion for 3D Detection and Tracking

PickScan: Object discovery and reconstruction from handheld interactions

Semantically Guided Feature Matching for Visual SLAM