Daily Papers

We introduce DragView, a novel and interactive framework for generating novel views of unseen scenes. DragView initializes the new view from a single source image, and the rendering is supported by a sparse set of unposed multi-view images, all seamlessly executed within a single feed-forward pass. Our approach begins with users dragging a source view through a local relative coordinate system. Pixel-aligned features are obtained by projecting the sampled 3D points along the target ray onto the source view. We then incorporate a view-dependent modulation layer to effectively handle occlusion during the projection. Additionally, we broaden the epipolar attention mechanism to encompass all source pixels, facilitating the aggregation of initialized coordinate-aligned point features from other unposed views. Finally, we employ another transformer to decode ray features into final pixel intensities. Crucially, our framework does not rely on either 2D prior models or the explicit estimation of camera poses. During testing, DragView showcases the capability to generalize to new scenes unseen during training, also utilizing only unposed support images, enabling the generation of photo-realistic new views characterized by flexible camera trajectories. In our experiments, we conduct a comprehensive comparison of the performance of DragView with recent scene representation networks operating under pose-free conditions, as well as with generalizable NeRFs subject to noisy test camera poses. DragView consistently demonstrates its superior performance in view synthesis quality, while also being more user-friendly. Project page: https://zhiwenfan.github.io/DragView/.

While novel view synthesis (NVS) has made substantial progress in 3D computer vision, it typically requires an initial estimation of camera intrinsics and extrinsics from dense viewpoints. This pre-processing is usually conducted via a Structure-from-Motion (SfM) pipeline, a procedure that can be slow and unreliable, particularly in sparse-view scenarios with insufficient matched features for accurate reconstruction. In this work, we integrate the strengths of point-based representations (e.g., 3D Gaussian Splatting, 3D-GS) with end-to-end dense stereo models (DUSt3R) to tackle the complex yet unresolved issues in NVS under unconstrained settings, which encompasses pose-free and sparse view challenges. Our framework, InstantSplat, unifies dense stereo priors with 3D-GS to build 3D Gaussians of large-scale scenes from sparseview & pose-free images in less than 1 minute. Specifically, InstantSplat comprises a Coarse Geometric Initialization (CGI) module that swiftly establishes a preliminary scene structure and camera parameters across all training views, utilizing globally-aligned 3D point maps derived from a pre-trained dense stereo pipeline. This is followed by the Fast 3D-Gaussian Optimization (F-3DGO) module, which jointly optimizes the 3D Gaussian attributes and the initialized poses with pose regularization. Experiments conducted on the large-scale outdoor Tanks & Temples datasets demonstrate that InstantSplat significantly improves SSIM (by 32%) while concurrently reducing Absolute Trajectory Error (ATE) by 80%. These establish InstantSplat as a viable solution for scenarios involving posefree and sparse-view conditions. Project page: instantsplat.github.io.

Recent 3D generation models typically rely on limited-scale 3D `gold-labels' or 2D diffusion priors for 3D content creation. However, their performance is upper-bounded by constrained 3D priors due to the lack of scalable learning paradigms. In this work, we present See3D, a visual-conditional multi-view diffusion model trained on large-scale Internet videos for open-world 3D creation. The model aims to Get 3D knowledge by solely Seeing the visual contents from the vast and rapidly growing video data -- You See it, You Got it. To achieve this, we first scale up the training data using a proposed data curation pipeline that automatically filters out multi-view inconsistencies and insufficient observations from source videos. This results in a high-quality, richly diverse, large-scale dataset of multi-view images, termed WebVi3D, containing 320M frames from 16M video clips. Nevertheless, learning generic 3D priors from videos without explicit 3D geometry or camera pose annotations is nontrivial, and annotating poses for web-scale videos is prohibitively expensive. To eliminate the need for pose conditions, we introduce an innovative visual-condition - a purely 2D-inductive visual signal generated by adding time-dependent noise to the masked video data. Finally, we introduce a novel visual-conditional 3D generation framework by integrating See3D into a warping-based pipeline for high-fidelity 3D generation. Our numerical and visual comparisons on single and sparse reconstruction benchmarks show that See3D, trained on cost-effective and scalable video data, achieves notable zero-shot and open-world generation capabilities, markedly outperforming models trained on costly and constrained 3D datasets. Please refer to our project page at: https://vision.baai.ac.cn/see3d

Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization, i.e., using only one photo of a scene to enable instant, metric scaled relocalization. Existing datasets are not suitable to benchmark map-free relocalization, due to their focus on large scenes or their limited variability. Thus, we have constructed a new dataset of 655 small places of interest, such as sculptures, murals and fountains, collected worldwide. Each place comes with a reference image to serve as a relocalization anchor, and dozens of query images with known, metric camera poses. The dataset features changing conditions, stark viewpoint changes, high variability across places, and queries with low to no visual overlap with the reference image. We identify two viable families of existing methods to provide baseline results: relative pose regression, and feature matching combined with single-image depth prediction. While these methods show reasonable performance on some favorable scenes in our dataset, map-free relocalization proves to be a challenge that requires new, innovative solutions.

For human-centric large-scale scenes, fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper, we present LiveHPS, a novel single-LiDAR-based approach for scene-level human pose and shape estimation without any limitation of light conditions and wearable devices. In particular, we design a distillation mechanism to mitigate the distribution-varying effect of LiDAR point clouds and exploit the temporal-spatial geometric and dynamic information existing in consecutive frames to solve the occlusion and noise disturbance. LiveHPS, with its efficient configuration and high-quality output, is well-suited for real-world applications. Moreover, we propose a huge human motion dataset, named FreeMotion, which is collected in various scenarios with diverse human poses, shapes and translations. It consists of multi-modal and multi-view acquisition data from calibrated and synchronized LiDARs, cameras, and IMUs. Extensive experiments on our new dataset and other public datasets demonstrate the SOTA performance and robustness of our approach. We will release our code and dataset soon.

Customization generation techniques have significantly advanced the synthesis of specific concepts across varied contexts. Multi-concept customization emerges as the challenging task within this domain. Existing approaches often rely on training a fusion matrix of multiple Low-Rank Adaptations (LoRAs) to merge various concepts into a single image. However, we identify this straightforward method faces two major challenges: 1) concept confusion, where the model struggles to preserve distinct individual characteristics, and 2) concept vanishing, where the model fails to generate the intended subjects. To address these issues, we introduce LoRA-Composer, a training-free framework designed for seamlessly integrating multiple LoRAs, thereby enhancing the harmony among different concepts within generated images. LoRA-Composer addresses concept vanishing through concept injection constraints, enhancing concept visibility via an expanded cross-attention mechanism. To combat concept confusion, concept isolation constraints are introduced, refining the self-attention computation. Furthermore, latent re-initialization is proposed to effectively stimulate concept-specific latent within designated regions. Our extensive testing showcases a notable enhancement in LoRA-Composer's performance compared to standard baselines, especially when eliminating the image-based conditions like canny edge or pose estimations. Code is released at https://github.com/Young98CN/LoRA_Composer

This paper presents a neural architecture MVDiffusion++ for 3D object reconstruction that synthesizes dense and high-resolution views of an object given one or a few images without camera poses. MVDiffusion++ achieves superior flexibility and scalability with two surprisingly simple ideas: 1) A ``pose-free architecture'' where standard self-attention among 2D latent features learns 3D consistency across an arbitrary number of conditional and generation views without explicitly using camera pose information; and 2) A ``view dropout strategy'' that discards a substantial number of output views during training, which reduces the training-time memory footprint and enables dense and high-resolution view synthesis at test time. We use the Objaverse for training and the Google Scanned Objects for evaluation with standard novel view synthesis and 3D reconstruction metrics, where MVDiffusion++ significantly outperforms the current state of the arts. We also demonstrate a text-to-3D application example by combining MVDiffusion++ with a text-to-image generative model.

While previous audio-driven talking head generation (THG) methods generate head poses from driving audio, the generated poses or lips cannot match the audio well or are not editable. In this study, we propose PoseTalk, a THG system that can freely generate lip-synchronized talking head videos with free head poses conditioned on text prompts and audio. The core insight of our method is using head pose to connect visual, linguistic, and audio signals. First, we propose to generate poses from both audio and text prompts, where the audio offers short-term variations and rhythm correspondence of the head movements and the text prompts describe the long-term semantics of head motions. To achieve this goal, we devise a Pose Latent Diffusion (PLD) model to generate motion latent from text prompts and audio cues in a pose latent space. Second, we observe a loss-imbalance problem: the loss for the lip region contributes less than 4\% of the total reconstruction loss caused by both pose and lip, making optimization lean towards head movements rather than lip shapes. To address this issue, we propose a refinement-based learning strategy to synthesize natural talking videos using two cascaded networks, i.e., CoarseNet, and RefineNet. The CoarseNet estimates coarse motions to produce animated images in novel poses and the RefineNet focuses on learning finer lip motions by progressively estimating lip motions from low-to-high resolutions, yielding improved lip-synchronization performance. Experiments demonstrate our pose prediction strategy achieves better pose diversity and realness compared to text-only or audio-only, and our video generator model outperforms state-of-the-art methods in synthesizing talking videos with natural head motions. Project: https://junleen.github.io/projects/posetalk.

Character animation is a transformative field in computer graphics and vision, enabling dynamic and realistic video animations from static images. Despite advancements, maintaining appearance consistency in animations remains a challenge. Our approach addresses this by introducing a training-free framework that ensures the generated video sequence preserves the reference image's subtleties, such as physique and proportions, through a dual alignment strategy. We decouple skeletal and motion priors from pose information, enabling precise control over animation generation. Our method also improves pixel-level alignment for conditional control from the reference character, enhancing the temporal consistency and visual cohesion of animations. Our method significantly enhances the quality of video generation without the need for large datasets or expensive computational resources.

In this work, we introduce a generative approach for pose-free reconstruction of 360^{circ} scenes from a limited number of uncalibrated 2D images. Pose-free scene reconstruction from incomplete, unposed observations is usually regularized with depth estimation or 3D foundational priors. While recent advances have enabled sparse-view reconstruction of unbounded scenes with known camera poses using diffusion priors, these methods rely on explicit camera embeddings for extrapolating unobserved regions. This reliance limits their application in pose-free settings, where view-specific data is only implicitly available. To address this, we propose an instruction-following RGBD diffusion model designed to inpaint missing details and remove artifacts in novel view renders and depth maps of a 3D scene. We also propose a novel confidence measure for Gaussian representations to allow for better detection of these artifacts. By progressively integrating these novel views in a Gaussian-SLAM-inspired process, we achieve a multi-view-consistent Gaussian representation. Evaluations on the MipNeRF360 dataset demonstrate that our method surpasses existing pose-free techniques and performs competitively with state-of-the-art posed reconstruction methods in complex 360^{circ} scenes.

Are camera poses necessary for multi-view 3D modeling? Existing approaches predominantly assume access to accurate camera poses. While this assumption might hold for dense views, accurately estimating camera poses for sparse views is often elusive. Our analysis reveals that noisy estimated poses lead to degraded performance for existing sparse-view 3D modeling methods. To address this issue, we present LEAP, a novel pose-free approach, therefore challenging the prevailing notion that camera poses are indispensable. LEAP discards pose-based operations and learns geometric knowledge from data. LEAP is equipped with a neural volume, which is shared across scenes and is parameterized to encode geometry and texture priors. For each incoming scene, we update the neural volume by aggregating 2D image features in a feature-similarity-driven manner. The updated neural volume is decoded into the radiance field, enabling novel view synthesis from any viewpoint. On both object-centric and scene-level datasets, we show that LEAP significantly outperforms prior methods when they employ predicted poses from state-of-the-art pose estimators. Notably, LEAP performs on par with prior approaches that use ground-truth poses while running 400times faster than PixelNeRF. We show LEAP generalizes to novel object categories and scenes, and learns knowledge closely resembles epipolar geometry. Project page: https://hwjiang1510.github.io/LEAP/

A critical obstacle preventing NeRF models from being deployed broadly in the wild is their reliance on accurate camera poses. Consequently, there is growing interest in extending NeRF models to jointly optimize camera poses and scene representation, which offers an alternative to off-the-shelf SfM pipelines which have well-understood failure modes. Existing approaches for unposed NeRF operate under limited assumptions, such as a prior pose distribution or coarse pose initialization, making them less effective in a general setting. In this work, we propose a novel approach, LU-NeRF, that jointly estimates camera poses and neural radiance fields with relaxed assumptions on pose configuration. Our approach operates in a local-to-global manner, where we first optimize over local subsets of the data, dubbed mini-scenes. LU-NeRF estimates local pose and geometry for this challenging few-shot task. The mini-scene poses are brought into a global reference frame through a robust pose synchronization step, where a final global optimization of pose and scene can be performed. We show our LU-NeRF pipeline outperforms prior attempts at unposed NeRF without making restrictive assumptions on the pose prior. This allows us to operate in the general SE(3) pose setting, unlike the baselines. Our results also indicate our model can be complementary to feature-based SfM pipelines as it compares favorably to COLMAP on low-texture and low-resolution images.

Training a Neural Radiance Field (NeRF) without pre-computed camera poses is challenging. Recent advances in this direction demonstrate the possibility of jointly optimising a NeRF and camera poses in forward-facing scenes. However, these methods still face difficulties during dramatic camera movement. We tackle this challenging problem by incorporating undistorted monocular depth priors. These priors are generated by correcting scale and shift parameters during training, with which we are then able to constrain the relative poses between consecutive frames. This constraint is achieved using our proposed novel loss functions. Experiments on real-world indoor and outdoor scenes show that our method can handle challenging camera trajectories and outperforms existing methods in terms of novel view rendering quality and pose estimation accuracy. Our project page is https://nope-nerf.active.vision.

We introduce Free3D, a simple approach designed for open-set novel view synthesis (NVS) from a single image. Similar to Zero-1-to-3, we start from a pre-trained 2D image generator for generalization, and fine-tune it for NVS. Compared to recent and concurrent works, we obtain significant improvements without resorting to an explicit 3D representation, which is slow and memory-consuming or training an additional 3D network. We do so by encoding better the target camera pose via a new per-pixel ray conditioning normalization (RCN) layer. The latter injects pose information in the underlying 2D image generator by telling each pixel its specific viewing direction. We also improve multi-view consistency via a light-weight multi-view attention layer and multi-view noise sharing. We train Free3D on the Objaverse dataset and demonstrate excellent generalization to various new categories in several new datasets, including OminiObject3D and GSO. We hope our simple and effective approach will serve as a solid baseline and help future research in NVS with more accuracy pose. The project page is available at https://chuanxiaz.com/free3d/.

Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale, photo-realistic synthetic datasets. However, their performance heavily depends on the quality and diversity of rendered data and they require extensive training. In this work, we show how to tackle the same task but without training on specific data. We propose FreeZe, a novel solution that harnesses the capabilities of pre-trained geometric and vision foundation models. FreeZe leverages 3D geometric descriptors learned from unrelated 3D point clouds and 2D visual features learned from web-scale 2D images to generate discriminative 3D point-level descriptors. We then estimate the 6D pose of unseen objects by 3D registration based on RANSAC. We also introduce a novel algorithm to solve ambiguous cases due to geometrically symmetric objects that is based on visual features. We comprehensively evaluate FreeZe across the seven core datasets of the BOP Benchmark, which include over a hundred 3D objects and 20,000 images captured in various scenarios. FreeZe consistently outperforms all state-of-the-art approaches, including competitors extensively trained on synthetic 6D pose estimation data. Code will be publicly available at https://andreacaraffa.github.io/freeze.

We propose a Pose-Free Large Reconstruction Model (PF-LRM) for reconstructing a 3D object from a few unposed images even with little visual overlap, while simultaneously estimating the relative camera poses in ~1.3 seconds on a single A100 GPU. PF-LRM is a highly scalable method utilizing the self-attention blocks to exchange information between 3D object tokens and 2D image tokens; we predict a coarse point cloud for each view, and then use a differentiable Perspective-n-Point (PnP) solver to obtain camera poses. When trained on a huge amount of multi-view posed data of ~1M objects, PF-LRM shows strong cross-dataset generalization ability, and outperforms baseline methods by a large margin in terms of pose prediction accuracy and 3D reconstruction quality on various unseen evaluation datasets. We also demonstrate our model's applicability in downstream text/image-to-3D task with fast feed-forward inference. Our project website is at: https://totoro97.github.io/pf-lrm .

High-quality scene reconstruction and novel view synthesis based on Gaussian Splatting (3DGS) typically require steady, high-quality photographs, often impractical to capture with handheld cameras. We present a method that adapts to camera motion and allows high-quality scene reconstruction with handheld video data suffering from motion blur and rolling shutter distortion. Our approach is based on detailed modelling of the physical image formation process and utilizes velocities estimated using visual-inertial odometry (VIO). Camera poses are considered non-static during the exposure time of a single image frame and camera poses are further optimized in the reconstruction process. We formulate a differentiable rendering pipeline that leverages screen space approximation to efficiently incorporate rolling-shutter and motion blur effects into the 3DGS framework. Our results with both synthetic and real data demonstrate superior performance in mitigating camera motion over existing methods, thereby advancing 3DGS in naturalistic settings.

We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when visual texture is largely absent. The object is assumed to be segmented in the first frame only. No additional information is required, and no assumption is made about the interaction agent. Key to our method is a Neural Object Field that is learned concurrently with a pose graph optimization process in order to robustly accumulate information into a consistent 3D representation capturing both geometry and appearance. A dynamic pool of posed memory frames is automatically maintained to facilitate communication between these threads. Our approach handles challenging sequences with large pose changes, partial and full occlusion, untextured surfaces, and specular highlights. We show results on HO3D, YCBInEOAT, and BEHAVE datasets, demonstrating that our method significantly outperforms existing approaches. Project page: https://bundlesdf.github.io

Conventional 2D pose estimation models are constrained by their design to specific object categories. This limits their applicability to predefined objects. To overcome these limitations, category-agnostic pose estimation (CAPE) emerged as a solution. CAPE aims to facilitate keypoint localization for diverse object categories using a unified model, which can generalize from minimal annotated support images. Recent CAPE works have produced object poses based on arbitrary keypoint definitions annotated on a user-provided support image. Our work departs from conventional CAPE methods, which require a support image, by adopting a text-based approach instead of the support image. Specifically, we use a pose-graph, where nodes represent keypoints that are described with text. This representation takes advantage of the abstraction of text descriptions and the structure imposed by the graph. Our approach effectively breaks symmetry, preserves structure, and improves occlusion handling. We validate our novel approach using the MP-100 benchmark, a comprehensive dataset spanning over 100 categories and 18,000 images. Under a 1-shot setting, our solution achieves a notable performance boost of 1.07\%, establishing a new state-of-the-art for CAPE. Additionally, we enrich the dataset by providing text description annotations, further enhancing its utility for future research.

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our goal then is to estimate the relative object pose between this reference view and a query image that depicts the object in a different pose. In this scenario, robust generalization is imperative due to the presence of unseen objects during testing and the large-scale object pose variation between the reference and the query. To this end, we present a new hypothesis-and-verification framework, in which we generate and evaluate multiple pose hypotheses, ultimately selecting the most reliable one as the relative object pose. To measure reliability, we introduce a 3D-aware verification that explicitly applies 3D transformations to the 3D object representations learned from the two input images. Our comprehensive experiments on the Objaverse, LINEMOD, and CO3D datasets evidence the superior accuracy of our approach in relative pose estimation and its robustness in large-scale pose variations, when dealing with unseen objects.

Dynamic Gaussian splatting has led to impressive scene reconstruction and image synthesis advances in novel views. Existing methods, however, heavily rely on pre-computed poses and Gaussian initialization by Structure from Motion (SfM) algorithms or expensive sensors. For the first time, this paper addresses this issue by integrating self-supervised VO into our pose-free dynamic Gaussian method (VDG) to boost pose and depth initialization and static-dynamic decomposition. Moreover, VDG can work with only RGB image input and construct dynamic scenes at a faster speed and larger scenes compared with the pose-free dynamic view-synthesis method. We demonstrate the robustness of our approach via extensive quantitative and qualitative experiments. Our results show favorable performance over the state-of-the-art dynamic view synthesis methods. Additional video and source code will be posted on our project page at https://3d-aigc.github.io/VDG.

Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly come from the necessity of 3D models, closed-category detection, and a large number of densely annotated support views. To mitigate this issue, we propose a general paradigm for object pose estimation, called Promptable Object Pose Estimation (POPE). The proposed approach POPE enables zero-shot 6DoF object pose estimation for any target object in any scene, while only a single reference is adopted as the support view. To achieve this, POPE leverages the power of the pre-trained large-scale 2D foundation model, employs a framework with hierarchical feature representation and 3D geometry principles. Moreover, it estimates the relative camera pose between object prompts and the target object in new views, enabling both two-view and multi-view 6DoF pose estimation tasks. Comprehensive experimental results demonstrate that POPE exhibits unrivaled robust performance in zero-shot settings, by achieving a significant reduction in the averaged Median Pose Error by 52.38% and 50.47% on the LINEMOD and OnePose datasets, respectively. We also conduct more challenging testings in causally captured images (see Figure 1), which further demonstrates the robustness of POPE. Project page can be found with https://paulpanwang.github.io/POPE/.

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered images at first, followed by a joint optimization of estimated poses and neural radiance field. However, as the pose estimator is trained with only rendered images, the pose estimation is usually biased or inaccurate for real images due to the domain gap between real images and rendered images, leading to poor robustness for the pose estimation of real images and further local minima in joint optimization. We design IR-NeRF, an innovative pose-free NeRF that introduces implicit pose regularization to refine pose estimator with unposed real images and improve the robustness of the pose estimation for real images. With a collection of 2D images of a specific scene, IR-NeRF constructs a scene codebook that stores scene features and captures the scene-specific pose distribution implicitly as priors. Thus, the robustness of pose estimation can be promoted with the scene priors according to the rationale that a 2D real image can be well reconstructed from the scene codebook only when its estimated pose lies within the pose distribution. Extensive experiments show that IR-NeRF achieves superior novel view synthesis and outperforms the state-of-the-art consistently across multiple synthetic and real datasets.

Inverse rendering of an object under entirely unknown capture conditions is a fundamental challenge in computer vision and graphics. Neural approaches such as NeRF have achieved photorealistic results on novel view synthesis, but they require known camera poses. Solving this problem with unknown camera poses is highly challenging as it requires joint optimization over shape, radiance, and pose. This problem is exacerbated when the input images are captured in the wild with varying backgrounds and illuminations. Standard pose estimation techniques fail in such image collections in the wild due to very few estimated correspondences across images. Furthermore, NeRF cannot relight a scene under any illumination, as it operates on radiance (the product of reflectance and illumination). We propose a joint optimization framework to estimate the shape, BRDF, and per-image camera pose and illumination. Our method works on in-the-wild online image collections of an object and produces relightable 3D assets for several use-cases such as AR/VR. To our knowledge, our method is the first to tackle this severely unconstrained task with minimal user interaction. Project page: https://markboss.me/publication/2022-samurai/ Video: https://youtu.be/LlYuGDjXp-8

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark detection, often used for 3D face alignment. In addition, 6DoF offers more information than face bounding box labels. We leverage these observations to make multiple contributions: (a) We describe an easily trained, efficient, Faster R-CNN--based model which regresses 6DoF pose for all faces in the photo, without preliminary face detection. (b) We explain how pose is converted and kept consistent between the input photo and arbitrary crops created while training and evaluating our model. (c) Finally, we show how face poses can replace detection bounding box training labels. Tests on AFLW2000-3D and BIWI show that our method runs at real-time and outperforms state of the art (SotA) face pose estimators. Remarkably, our method also surpasses SotA models of comparable complexity on the WIDER FACE detection benchmark, despite not been optimized on bounding box labels.

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their practicability and scalability. Notably, recent attempts have been made to solve this issue, but they still require accurate 3D data of the object surface at both train and test time. In this paper, we introduce a novel approach that can estimate in a single forward pass the pose of objects never seen during training, given minimum input. In contrast to existing state-of-the-art approaches, which rely on task-specific modules, our proposed model is entirely based on a transformer architecture, which can benefit from recently proposed 3D-geometry general pretraining. We conduct extensive experiments and report state-of-the-art one-shot performance on the challenging LINEMOD benchmark. Finally, extensive ablations allow us to determine good practices with this relatively new type of architecture in the field.

Training accurate 3D human pose estimators requires large amount of 3D ground-truth data which is costly to collect. Various weakly or self supervised pose estimation methods have been proposed due to lack of 3D data. Nevertheless, these methods, in addition to 2D ground-truth poses, require either additional supervision in various forms (e.g. unpaired 3D ground truth data, a small subset of labels) or the camera parameters in multiview settings. To address these problems, we present EpipolarPose, a self-supervised learning method for 3D human pose estimation, which does not need any 3D ground-truth data or camera extrinsics. During training, EpipolarPose estimates 2D poses from multi-view images, and then, utilizes epipolar geometry to obtain a 3D pose and camera geometry which are subsequently used to train a 3D pose estimator. We demonstrate the effectiveness of our approach on standard benchmark datasets i.e. Human3.6M and MPI-INF-3DHP where we set the new state-of-the-art among weakly/self-supervised methods. Furthermore, we propose a new performance measure Pose Structure Score (PSS) which is a scale invariant, structure aware measure to evaluate the structural plausibility of a pose with respect to its ground truth. Code and pretrained models are available at https://github.com/mkocabas/EpipolarPose

We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that is a standard component of recent consumer devices, e.g., smartphones. We provide an exhaustive analysis of minimal line configurations and derive two new 2-line solvers, one of which does not suffer from singularities affecting existing solvers. Additionally, we design a new non-minimal method, running on an arbitrary number of lines, to boost the performance in local optimization. Combining all solvers in a hybrid robust estimator, our method achieves increased accuracy even with a rough prior. Experiments on synthetic and real-world datasets demonstrate the superior accuracy of our method compared to the state of the art, while having comparable runtimes. We further demonstrate the applicability of our solvers for relative rotation estimation. The code is available at https://github.com/cvg/VP-Estimation-with-Prior-Gravity.

We consider the task of learning to estimate human pose in still images. In order to avoid the high cost of full supervision, we propose to use a diverse data set, which consists of two types of annotations: (i) a small number of images are labeled using the expensive ground-truth pose; and (ii) other images are labeled using the inexpensive action label. As action information helps narrow down the pose of a human, we argue that this approach can help reduce the cost of training without significantly affecting the accuracy. To demonstrate this we design a probabilistic framework that employs two distributions: (i) a conditional distribution to model the uncertainty over the human pose given the image and the action; and (ii) a prediction distribution, which provides the pose of an image without using any action information. We jointly estimate the parameters of the two aforementioned distributions by minimizing their dissimilarity coefficient, as measured by a task-specific loss function. During both training and testing, we only require an efficient sampling strategy for both the aforementioned distributions. This allows us to use deep probabilistic networks that are capable of providing accurate pose estimates for previously unseen images. Using the MPII data set, we show that our approach outperforms baseline methods that either do not use the diverse annotations or rely on pointwise estimates of the pose.

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints, which require the input images to have large overlap and small viewpoint changes. Such requirements present considerable challenges in scenarios with sparse views. Recent data-driven approaches aim to directly output camera poses, either through regressing the 6DoF camera poses or formulating rotation as a probability distribution. However, each approach has its limitations. On one hand, directly regressing the camera poses can be ill-posed, since it assumes a single mode, which is not true under symmetry and leads to sub-optimal solutions. On the other hand, probabilistic approaches are capable of modeling the symmetry ambiguity, yet they sample the entire space of rotation uniformly by brute-force. This leads to an inevitable trade-off between high sample density, which improves model precision, and sample efficiency that determines the runtime. In this paper, we propose ADen to unify the two frameworks by employing a generator and a discriminator: the generator is trained to output multiple hypotheses of 6DoF camera pose to represent a distribution and handle multi-mode ambiguity, and the discriminator is trained to identify the hypothesis that best explains the data. This allows ADen to combine the best of both worlds, achieving substantially higher precision as well as lower runtime than previous methods in empirical evaluations.

Dense 3D reconstruction from RGB images traditionally assumes static camera pose estimates. This assumption has endured, even as recent works have increasingly focused on real-time methods for mobile devices. However, the assumption of a fixed pose for each image does not hold for online execution: poses from real-time SLAM are dynamic and may be updated following events such as bundle adjustment and loop closure. This has been addressed in the RGB-D setting, by de-integrating past views and re-integrating them with updated poses, but it remains largely untreated in the RGB-only setting. We formalize this problem to define the new task of dense online reconstruction from dynamically-posed images. To support further research, we introduce a dataset called LivePose containing the dynamic poses from a SLAM system running on ScanNet. We select three recent reconstruction systems and apply a framework based on de-integration to adapt each one to the dynamic-pose setting. In addition, we propose a novel, non-linear de-integration module that learns to remove stale scene content. We show that responding to pose updates is critical for high-quality reconstruction, and that our de-integration framework is an effective solution.

Video generation models have demonstrated great capabilities of producing impressive monocular videos, however, the generation of 3D stereoscopic video remains under-explored. We propose a pose-free and training-free approach for generating 3D stereoscopic videos using an off-the-shelf monocular video generation model. Our method warps a generated monocular video into camera views on stereoscopic baseline using estimated video depth, and employs a novel frame matrix video inpainting framework. The framework leverages the video generation model to inpaint frames observed from different timestamps and views. This effective approach generates consistent and semantically coherent stereoscopic videos without scene optimization or model fine-tuning. Moreover, we develop a disocclusion boundary re-injection scheme that further improves the quality of video inpainting by alleviating the negative effects propagated from disoccluded areas in the latent space. We validate the efficacy of our proposed method by conducting experiments on videos from various generative models, including Sora [4 ], Lumiere [2], WALT [8 ], and Zeroscope [ 42]. The experiments demonstrate that our method has a significant improvement over previous methods. The code will be released at https://daipengwa.github.io/SVG_ProjectPage.

Pose-driven human image animation has achieved tremendous progress, enabling the generation of vivid and realistic human videos from just one single photo. However, it conversely exacerbates the risk of image misuse, as attackers may use one available image to create videos involving politics, violence and other illegal content. To counter this threat, we propose Dormant, a novel protection approach tailored to defend against pose-driven human image animation techniques. Dormant applies protective perturbation to one human image, preserving the visual similarity to the original but resulting in poor-quality video generation. The protective perturbation is optimized to induce misextraction of appearance features from the image and create incoherence among the generated video frames. Our extensive evaluation across 8 animation methods and 4 datasets demonstrates the superiority of Dormant over 6 baseline protection methods, leading to misaligned identities, visual distortions, noticeable artifacts, and inconsistent frames in the generated videos. Moreover, Dormant shows effectiveness on 6 real-world commercial services, even with fully black-box access.

Human pose and shape (HPS) estimation methods achieve remarkable results. However, current HPS benchmarks are mostly designed to test models in scenarios that are similar to the training data. This can lead to critical situations in real-world applications when the observed data differs significantly from the training data and hence is out-of-distribution (OOD). It is therefore important to test and improve the OOD robustness of HPS methods. To address this fundamental problem, we develop a simulator that can be controlled in a fine-grained manner using interpretable parameters to explore the manifold of images of human pose, e.g. by varying poses, shapes, and clothes. We introduce a learning-based testing method, termed PoseExaminer, that automatically diagnoses HPS algorithms by searching over the parameter space of human pose images to find the failure modes. Our strategy for exploring this high-dimensional parameter space is a multi-agent reinforcement learning system, in which the agents collaborate to explore different parts of the parameter space. We show that our PoseExaminer discovers a variety of limitations in current state-of-the-art models that are relevant in real-world scenarios but are missed by current benchmarks. For example, it finds large regions of realistic human poses that are not predicted correctly, as well as reduced performance for humans with skinny and corpulent body shapes. In addition, we show that fine-tuning HPS methods by exploiting the failure modes found by PoseExaminer improve their robustness and even their performance on standard benchmarks by a significant margin. The code are available for research purposes.

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable correspondences or visual overlap. Inspired by the human ability to infer spatial relationships from diverse scenes, we propose a novel approach, InterPose, that leverages the rich priors encoded within pre-trained generative video models. We propose to use a video model to hallucinate intermediate frames between two input images, effectively creating a dense, visual transition, which significantly simplifies the problem of pose estimation. Since current video models can still produce implausible motion or inconsistent geometry, we introduce a self-consistency score that evaluates the consistency of pose predictions from sampled videos. We demonstrate that our approach generalizes among three state-of-the-art video models and show consistent improvements over the state-of-the-art DUSt3R on four diverse datasets encompassing indoor, outdoor, and object-centric scenes. Our findings suggest a promising avenue for improving pose estimation models by leveraging large generative models trained on vast amounts of video data, which is more readily available than 3D data. See our project page for results: https://inter-pose.github.io/.

We propose a method for generating fly-through videos of a scene, from a single image and a given camera trajectory. We build upon an image-to-video latent diffusion model. We condition its UNet denoiser on the camera trajectory, using four techniques. (1) We condition the UNet's temporal blocks on raw camera extrinsics, similar to MotionCtrl. (2) We use images containing camera rays and directions, similar to CameraCtrl. (3) We reproject the initial image to subsequent frames and use the resulting video as a condition. (4) We use 2D<=>3D transformers to introduce a global 3D representation, which implicitly conditions on the camera poses. We combine all conditions in a ContolNet-style architecture. We then propose a metric that evaluates overall video quality and the ability to preserve details with view changes, which we use to analyze the trade-offs of individual and combined conditions. Finally, we identify an optimal combination of conditions. We calibrate camera positions in our datasets for scale consistency across scenes, and we train our scene exploration model, CamCtrl3D, demonstrating state-of-theart results.

This paper studies the problem of recovering cameras from a set of fundamental matrices. A set of fundamental matrices is said to be compatible if a set of cameras exists for which they are the fundamental matrices. We focus on the complete graph, where fundamental matrices for each pair of cameras are given. Previous work has established necessary and sufficient conditions for compatibility as rank and eigenvalue conditions on the n-view fundamental matrix obtained by concatenating the individual fundamental matrices. In this work, we show that the eigenvalue condition is redundant. We provide explicit homogeneous polynomials that describe necessary and sufficient conditions for compatibility in terms of the fundamental matrices and their epipoles. In this direction, we find that quadruple-wise compatibility is enough to ensure global compatibility for any number of cameras. We demonstrate that for four cameras, compatibility is generically described by triple-wise conditions and one additional equation involving all fundamental matrices.

We present a method to combine markerless motion capture and dense pose feature estimation into a single framework. We demonstrate that dense pose information can help for multiview/single-view motion capture, and multiview motion capture can help the collection of a high-quality dataset for training the dense pose detector. Specifically, we first introduce a novel markerless motion capture method that can take advantage of dense parsing capability provided by the dense pose detector. Thanks to the introduced dense human parsing ability, our method is demonstrated much more efficient, and accurate compared with the available state-of-the-art markerless motion capture approach. Second, we improve the performance of available dense pose detector by using multiview markerless motion capture data. Such dataset is beneficial to dense pose training because they are more dense and accurate and consistent, and can compensate for the corner cases such as unusual viewpoints. We quantitatively demonstrate the improved performance of our dense pose detector over the available DensePose. Our dense pose dataset and detector will be made public.

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a single image of a new object as input and predicts the relative pose of this object in new images without prior knowledge of the object's 3D model and without requiring training time for new objects and categories. We achieve this by training a model to directly predict discriminative embeddings for viewpoints surrounding the object. This prediction is done using a simple U-Net architecture with attention and conditioned on the desired pose, which yields extremely fast inference. We compare our approach to state-of-the-art methods and show it outperforms them both in terms of accuracy and robustness. Our source code is publicly available at https://github.com/nv-nguyen/nope

As more and more personal photos are shared online, being able to obfuscate identities in such photos is becoming a necessity for privacy protection. People have largely resorted to blacking out or blurring head regions, but they result in poor user experience while being surprisingly ineffective against state of the art person recognizers. In this work, we propose a novel head inpainting obfuscation technique. Generating a realistic head inpainting in social media photos is challenging because subjects appear in diverse activities and head orientations. We thus split the task into two sub-tasks: (1) facial landmark generation from image context (e.g. body pose) for seamless hypothesis of sensible head pose, and (2) facial landmark conditioned head inpainting. We verify that our inpainting method generates realistic person images, while achieving superior obfuscation performance against automatic person recognizers.

Human pose and shape (HPS) estimation with lensless imaging is not only beneficial to privacy protection but also can be used in covert surveillance scenarios due to the small size and simple structure of this device. However, this task presents significant challenges due to the inherent ambiguity of the captured measurements and lacks effective methods for directly estimating human pose and shape from lensless data. In this paper, we propose the first end-to-end framework to recover 3D human poses and shapes from lensless measurements to our knowledge. We specifically design a multi-scale lensless feature decoder to decode the lensless measurements through the optically encoded mask for efficient feature extraction. We also propose a double-head auxiliary supervision mechanism to improve the estimation accuracy of human limb ends. Besides, we establish a lensless imaging system and verify the effectiveness of our method on various datasets acquired by our lensless imaging system.

While neural rendering has led to impressive advances in scene reconstruction and novel view synthesis, it relies heavily on accurately pre-computed camera poses. To relax this constraint, multiple efforts have been made to train Neural Radiance Fields (NeRFs) without pre-processed camera poses. However, the implicit representations of NeRFs provide extra challenges to optimize the 3D structure and camera poses at the same time. On the other hand, the recently proposed 3D Gaussian Splatting provides new opportunities given its explicit point cloud representations. This paper leverages both the explicit geometric representation and the continuity of the input video stream to perform novel view synthesis without any SfM preprocessing. We process the input frames in a sequential manner and progressively grow the 3D Gaussians set by taking one input frame at a time, without the need to pre-compute the camera poses. Our method significantly improves over previous approaches in view synthesis and camera pose estimation under large motion changes. Our project page is https://oasisyang.github.io/colmap-free-3dgs

Novel view synthesis from a single input image is a challenging task, where the goal is to generate a new view of a scene from a desired camera pose that may be separated by a large motion. The highly uncertain nature of this synthesis task due to unobserved elements within the scene (i.e. occlusion) and outside the field-of-view makes the use of generative models appealing to capture the variety of possible outputs. In this paper, we propose a novel generative model capable of producing a sequence of photorealistic images consistent with a specified camera trajectory, and a single starting image. Our approach is centred on an autoregressive conditional diffusion-based model capable of interpolating visible scene elements, and extrapolating unobserved regions in a view, in a geometrically consistent manner. Conditioning is limited to an image capturing a single camera view and the (relative) pose of the new camera view. To measure the consistency over a sequence of generated views, we introduce a new metric, the thresholded symmetric epipolar distance (TSED), to measure the number of consistent frame pairs in a sequence. While previous methods have been shown to produce high quality images and consistent semantics across pairs of views, we show empirically with our metric that they are often inconsistent with the desired camera poses. In contrast, we demonstrate that our method produces both photorealistic and view-consistent imagery.

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning, as long as its CAD model is given, or a small number of reference images are captured. We bridge the gap between these two setups with a neural implicit representation that allows for effective novel view synthesis, keeping the downstream pose estimation modules invariant under the same unified framework. Strong generalizability is achieved via large-scale synthetic training, aided by a large language model (LLM), a novel transformer-based architecture, and contrastive learning formulation. Extensive evaluation on multiple public datasets involving challenging scenarios and objects indicate our unified approach outperforms existing methods specialized for each task by a large margin. In addition, it even achieves comparable results to instance-level methods despite the reduced assumptions. Project page: https://nvlabs.github.io/FoundationPose/

Efficient and accurate object pose estimation is an essential component for modern vision systems in many applications such as Augmented Reality, autonomous driving, and robotics. While research in model-based 6D object pose estimation has delivered promising results, model-free methods are hindered by the high computational load in rendering and inferring consistent poses of arbitrary objects in a live RGB-D video stream. To address this issue, we present 6DOPE-GS, a novel method for online 6D object pose estimation \& tracking with a single RGB-D camera by effectively leveraging advances in Gaussian Splatting. Thanks to the fast differentiable rendering capabilities of Gaussian Splatting, 6DOPE-GS can simultaneously optimize for 6D object poses and 3D object reconstruction. To achieve the necessary efficiency and accuracy for live tracking, our method uses incremental 2D Gaussian Splatting with an intelligent dynamic keyframe selection procedure to achieve high spatial object coverage and prevent erroneous pose updates. We also propose an opacity statistic-based pruning mechanism for adaptive Gaussian density control, to ensure training stability and efficiency. We evaluate our method on the HO3D and YCBInEOAT datasets and show that 6DOPE-GS matches the performance of state-of-the-art baselines for model-free simultaneous 6D pose tracking and reconstruction while providing a 5times speedup. We also demonstrate the method's suitability for live, dynamic object tracking and reconstruction in a real-world setting.

Neural Radiance Fields (NeRF) exhibit remarkable performance for Novel View Synthesis (NVS) given a set of 2D images. However, NeRF training requires accurate camera pose for each input view, typically obtained by Structure-from-Motion (SfM) pipelines. Recent works have attempted to relax this constraint, but they still often rely on decent initial poses which they can refine. Here we aim at removing the requirement for pose initialization. We present Incremental CONfidence (ICON), an optimization procedure for training NeRFs from 2D video frames. ICON only assumes smooth camera motion to estimate initial guess for poses. Further, ICON introduces ``confidence": an adaptive measure of model quality used to dynamically reweight gradients. ICON relies on high-confidence poses to learn NeRF, and high-confidence 3D structure (as encoded by NeRF) to learn poses. We show that ICON, without prior pose initialization, achieves superior performance in both CO3D and HO3D versus methods which use SfM pose.

Pose-controllable character video generation is in high demand with extensive applications for fields such as automatic advertising and content creation on social media platforms. While existing character image animation methods using pose sequences and reference images have shown promising performance, they tend to struggle with incoherent animation in complex scenarios, such as multiple character animation and body occlusion. Additionally, current methods request large-scale high-quality videos with stable backgrounds and temporal consistency as training datasets, otherwise, their performance will greatly deteriorate. These two issues hinder the practical utilization of character image animation tools. In this paper, we propose a practical and robust framework Follow-Your-Pose v2, which can be trained on noisy open-sourced videos readily available on the internet. Multi-condition guiders are designed to address the challenges of background stability, body occlusion in multi-character generation, and consistency of character appearance. Moreover, to fill the gap of fair evaluation of multi-character pose animation, we propose a new benchmark comprising approximately 4,000 frames. Extensive experiments demonstrate that our approach outperforms state-of-the-art methods by a margin of over 35\% across 2 datasets and on 7 metrics. Meanwhile, qualitative assessments reveal a significant improvement in the quality of generated video, particularly in scenarios involving complex backgrounds and body occlusion of multi-character, suggesting the superiority of our approach.

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly supplanted conventional algorithms reliant on engineered point pair features. Nevertheless, several challenges persist in contemporary methods, including their dependency on labeled training data, model compactness, robustness under challenging conditions, and their ability to generalize to novel unseen objects. A recent survey discussing the progress made on different aspects of this area, outstanding challenges, and promising future directions, is missing. To fill this gap, we discuss the recent advances in deep learning-based object pose estimation, covering all three formulations of the problem, i.e., instance-level, category-level, and unseen object pose estimation. Our survey also covers multiple input data modalities, degrees-of-freedom of output poses, object properties, and downstream tasks, providing the readers with a holistic understanding of this field. Additionally, it discusses training paradigms of different domains, inference modes, application areas, evaluation metrics, and benchmark datasets, as well as reports the performance of current state-of-the-art methods on these benchmarks, thereby facilitating the readers in selecting the most suitable method for their application. Finally, the survey identifies key challenges, reviews the prevailing trends along with their pros and cons, and identifies promising directions for future research. We also keep tracing the latest works at https://github.com/CNJianLiu/Awesome-Object-Pose-Estimation.

Single camera 3D pose estimation is an ill-defined problem due to inherent ambiguities from depth, occlusion or keypoint noise. Multi-hypothesis pose estimation accounts for this uncertainty by providing multiple 3D poses consistent with the 2D measurements. Current research has predominantly concentrated on generating multiple hypotheses for single frame static pose estimation. In this study we focus on the new task of multi-hypothesis motion estimation. Motion estimation is not simply pose estimation applied to multiple frames, which would ignore temporal correlation across frames. Instead, it requires distributions which are capable of generating temporally consistent samples, which is significantly more challenging. To this end, we introduce Platypose, a framework that uses a diffusion model pretrained on 3D human motion sequences for zero-shot 3D pose sequence estimation. Platypose outperforms baseline methods on multiple hypotheses for motion estimation. Additionally, Platypose also achieves state-of-the-art calibration and competitive joint error when tested on static poses from Human3.6M, MPI-INF-3DHP and 3DPW. Finally, because it is zero-shot, our method generalizes flexibly to different settings such as multi-camera inference.

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because they rely on the ability to robustly identify and match visual features between image pairs. While these methods can work robustly with dense camera views, capturing a large set of images can be time-consuming or impractical. We propose SparsePose for recovering accurate camera poses given a sparse set of wide-baseline images (fewer than 10). The method learns to regress initial camera poses and then iteratively refine them after training on a large-scale dataset of objects (Co3D: Common Objects in 3D). SparsePose significantly outperforms conventional and learning-based baselines in recovering accurate camera rotations and translations. We also demonstrate our pipeline for high-fidelity 3D reconstruction using only 5-9 images of an object.

We present a method named iComMa to address the 6D camera pose estimation problem in computer vision. Conventional pose estimation methods typically rely on the target's CAD model or necessitate specific network training tailored to particular object classes. Some existing methods have achieved promising results in mesh-free object and scene pose estimation by inverting the Neural Radiance Fields (NeRF). However, they still struggle with adverse initializations such as large rotations and translations. To address this issue, we propose an efficient method for accurate camera pose estimation by inverting 3D Gaussian Splatting (3DGS). Specifically, a gradient-based differentiable framework optimizes camera pose by minimizing the residual between the query image and the rendered image, requiring no training. An end-to-end matching module is designed to enhance the model's robustness against adverse initializations, while minimizing pixel-level comparing loss aids in precise pose estimation. Experimental results on synthetic and complex real-world data demonstrate the effectiveness of the proposed approach in challenging conditions and the accuracy of camera pose estimation.

Camera pose estimation is a long-standing computer vision problem that to date often relies on classical methods, such as handcrafted keypoint matching, RANSAC and bundle adjustment. In this paper, we propose to formulate the Structure from Motion (SfM) problem inside a probabilistic diffusion framework, modelling the conditional distribution of camera poses given input images. This novel view of an old problem has several advantages. (i) The nature of the diffusion framework mirrors the iterative procedure of bundle adjustment. (ii) The formulation allows a seamless integration of geometric constraints from epipolar geometry. (iii) It excels in typically difficult scenarios such as sparse views with wide baselines. (iv) The method can predict intrinsics and extrinsics for an arbitrary amount of images. We demonstrate that our method PoseDiffusion significantly improves over the classic SfM pipelines and the learned approaches on two real-world datasets. Finally, it is observed that our method can generalize across datasets without further training. Project page: https://posediffusion.github.io/

We introduce 4D Motion Scaffolds (MoSca), a neural information processing system designed to reconstruct and synthesize novel views of dynamic scenes from monocular videos captured casually in the wild. To address such a challenging and ill-posed inverse problem, we leverage prior knowledge from foundational vision models, lift the video data to a novel Motion Scaffold (MoSca) representation, which compactly and smoothly encodes the underlying motions / deformations. The scene geometry and appearance are then disentangled from the deformation field, and are encoded by globally fusing the Gaussians anchored onto the MoSca and optimized via Gaussian Splatting. Additionally, camera poses can be seamlessly initialized and refined during the dynamic rendering process, without the need for other pose estimation tools. Experiments demonstrate state-of-the-art performance on dynamic rendering benchmarks.

Domain adaptation methods for 2D human pose estimation typically require continuous access to the source data during adaptation, which can be challenging due to privacy, memory, or computational constraints. To address this limitation, we focus on the task of source-free domain adaptation for pose estimation, where a source model must adapt to a new target domain using only unlabeled target data. Although recent advances have introduced source-free methods for classification tasks, extending them to the regression task of pose estimation is non-trivial. In this paper, we present Prior-guided Self-training (POST), a pseudo-labeling approach that builds on the popular Mean Teacher framework to compensate for the distribution shift. POST leverages prediction-level and feature-level consistency between a student and teacher model against certain image transformations. In the absence of source data, POST utilizes a human pose prior that regularizes the adaptation process by directing the model to generate more accurate and anatomically plausible pose pseudo-labels. Despite being simple and intuitive, our framework can deliver significant performance gains compared to applying the source model directly to the target data, as demonstrated in our extensive experiments and ablation studies. In fact, our approach achieves comparable performance to recent state-of-the-art methods that use source data for adaptation.

We propose SplatArmor, a novel approach for recovering detailed and animatable human models by `armoring' a parameterized body model with 3D Gaussians. Our approach represents the human as a set of 3D Gaussians within a canonical space, whose articulation is defined by extending the skinning of the underlying SMPL geometry to arbitrary locations in the canonical space. To account for pose-dependent effects, we introduce a SE(3) field, which allows us to capture both the location and anisotropy of the Gaussians. Furthermore, we propose the use of a neural color field to provide color regularization and 3D supervision for the precise positioning of these Gaussians. We show that Gaussian splatting provides an interesting alternative to neural rendering based methods by leverging a rasterization primitive without facing any of the non-differentiability and optimization challenges typically faced in such approaches. The rasterization paradigms allows us to leverage forward skinning, and does not suffer from the ambiguities associated with inverse skinning and warping. We show compelling results on the ZJU MoCap and People Snapshot datasets, which underscore the effectiveness of our method for controllable human synthesis.

Estimating the pose of an object from a monocular image is an inverse problem fundamental in computer vision. The ill-posed nature of this problem requires incorporating deformation priors to solve it. In practice, many materials do not perceptibly shrink or extend when manipulated, constituting a powerful and well-known prior. Mathematically, this translates to the preservation of the Riemannian metric. Neural networks offer the perfect playground to solve the surface reconstruction problem as they can approximate surfaces with arbitrary precision and allow the computation of differential geometry quantities. This paper presents an approach to inferring continuous deformable surfaces from a sequence of images, which is benchmarked against several techniques and obtains state-of-the-art performance without the need for offline training.

We present a method to build animatable dog avatars from monocular videos. This is challenging as animals display a range of (unpredictable) non-rigid movements and have a variety of appearance details (e.g., fur, spots, tails). We develop an approach that links the video frames via a 4D solution that jointly solves for animal's pose variation, and its appearance (in a canonical pose). To this end, we significantly improve the quality of template-based shape fitting by endowing the SMAL parametric model with Continuous Surface Embeddings, which brings image-to-mesh reprojection constaints that are denser, and thus stronger, than the previously used sparse semantic keypoint correspondences. To model appearance, we propose an implicit duplex-mesh texture that is defined in the canonical pose, but can be deformed using SMAL pose coefficients and later rendered to enforce a photometric compatibility with the input video frames. On the challenging CoP3D and APTv2 datasets, we demonstrate superior results (both in terms of pose estimates and predicted appearance) to existing template-free (RAC) and template-based approaches (BARC, BITE).

Creating animatable avatars from static scans requires the modeling of clothing deformations in different poses. Existing learning-based methods typically add pose-dependent deformations upon a minimally-clothed mesh template or a learned implicit template, which have limitations in capturing details or hinder end-to-end learning. In this paper, we revisit point-based solutions and propose to decompose explicit garment-related templates and then add pose-dependent wrinkles to them. In this way, the clothing deformations are disentangled such that the pose-dependent wrinkles can be better learned and applied to unseen poses. Additionally, to tackle the seam artifact issues in recent state-of-the-art point-based methods, we propose to learn point features on a body surface, which establishes a continuous and compact feature space to capture the fine-grained and pose-dependent clothing geometry. To facilitate the research in this field, we also introduce a high-quality scan dataset of humans in real-world clothing. Our approach is validated on two existing datasets and our newly introduced dataset, showing better clothing deformation results in unseen poses. The project page with code and dataset can be found at https://www.liuyebin.com/closet.

We propose AffineGlue, a method for joint two-view feature matching and robust estimation that reduces the combinatorial complexity of the problem by employing single-point minimal solvers. AffineGlue selects potential matches from one-to-many correspondences to estimate minimal models. Guided matching is then used to find matches consistent with the model, suffering less from the ambiguities of one-to-one matches. Moreover, we derive a new minimal solver for homography estimation, requiring only a single affine correspondence (AC) and a gravity prior. Furthermore, we train a neural network to reject ACs that are unlikely to lead to a good model. AffineGlue is superior to the SOTA on real-world datasets, even when assuming that the gravity direction points downwards. On PhotoTourism, the AUC@10{\deg} score is improved by 6.6 points compared to the SOTA. On ScanNet, AffineGlue makes SuperPoint and SuperGlue achieve similar accuracy as the detector-free LoFTR.

Given sparse views of an object, estimating their camera poses is a long-standing and intractable problem. We harness the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We present ID-Pose which inverses the denoising diffusion process to estimate the relative pose given two input images. ID-Pose adds a noise on one image, and predicts the noise conditioned on the other image and a decision variable for the pose. The prediction error is used as the objective to find the optimal pose with the gradient descent method. ID-Pose can handle more than two images and estimate each of the poses with multiple image pairs from triangular relationships. ID-Pose requires no training and generalizes to real-world images. We conduct experiments using high-quality real-scanned 3D objects, where ID-Pose significantly outperforms state-of-the-art methods.

Traditional 2D pose estimation models are limited by their category-specific design, making them suitable only for predefined object categories. This restriction becomes particularly challenging when dealing with novel objects due to the lack of relevant training data. To address this limitation, category-agnostic pose estimation (CAPE) was introduced. CAPE aims to enable keypoint localization for arbitrary object categories using a single model, requiring minimal support images with annotated keypoints. This approach not only enables object pose generation based on arbitrary keypoint definitions but also significantly reduces the associated costs, paving the way for versatile and adaptable pose estimation applications. We present a novel approach to CAPE that leverages the inherent geometrical relations between keypoints through a newly designed Graph Transformer Decoder. By capturing and incorporating this crucial structural information, our method enhances the accuracy of keypoint localization, marking a significant departure from conventional CAPE techniques that treat keypoints as isolated entities. We validate our approach on the MP-100 benchmark, a comprehensive dataset comprising over 20,000 images spanning more than 100 categories. Our method outperforms the prior state-of-the-art by substantial margins, achieving remarkable improvements of 2.16% and 1.82% under 1-shot and 5-shot settings, respectively. Furthermore, our method's end-to-end training demonstrates both scalability and efficiency compared to previous CAPE approaches.

In this paper, we present Export3D, a one-shot 3D-aware portrait animation method that is able to control the facial expression and camera view of a given portrait image. To achieve this, we introduce a tri-plane generator with an effective expression conditioning method, which directly generates a tri-plane of 3D prior by transferring the expression parameter of 3DMM into the source image. The tri-plane is then decoded into the image of different view through a differentiable volume rendering. Existing portrait animation methods heavily rely on image warping to transfer the expression in the motion space, challenging on disentanglement of appearance and expression. In contrast, we propose a contrastive pre-training framework for appearance-free expression parameter, eliminating undesirable appearance swap when transferring a cross-identity expression. Extensive experiments show that our pre-training framework can learn the appearance-free expression representation hidden in 3DMM, and our model can generate 3D-aware expression controllable portrait images without appearance swap in the cross-identity manner.

We introduce Structured 3D Features, a model based on a novel implicit 3D representation that pools pixel-aligned image features onto dense 3D points sampled from a parametric, statistical human mesh surface. The 3D points have associated semantics and can move freely in 3D space. This allows for optimal coverage of the person of interest, beyond just the body shape, which in turn, additionally helps modeling accessories, hair, and loose clothing. Owing to this, we present a complete 3D transformer-based attention framework which, given a single image of a person in an unconstrained pose, generates an animatable 3D reconstruction with albedo and illumination decomposition, as a result of a single end-to-end model, trained semi-supervised, and with no additional postprocessing. We show that our S3F model surpasses the previous state-of-the-art on various tasks, including monocular 3D reconstruction, as well as albedo and shading estimation. Moreover, we show that the proposed methodology allows novel view synthesis, relighting, and re-posing the reconstruction, and can naturally be extended to handle multiple input images (e.g. different views of a person, or the same view, in different poses, in video). Finally, we demonstrate the editing capabilities of our model for 3D virtual try-on applications.

Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot joint angles. However, this assumption is not always valid in practical situations. In real-world applications such as multi-robot collaboration or human-robot interaction, the robot joint states might not be shared or could be unreliable. On the other hand, existing approaches that estimate robot pose without joint state priors suffer from heavy computation burdens and thus cannot support real-time applications. This work introduces an efficient framework for real-time robot pose estimation from RGB images without requiring known robot states. Our method estimates camera-to-robot rotation, robot state parameters, keypoint locations, and root depth, employing a neural network module for each task to facilitate learning and sim-to-real transfer. Notably, it achieves inference in a single feed-forward pass without iterative optimization. Our approach offers a 12-time speed increase with state-of-the-art accuracy, enabling real-time holistic robot pose estimation for the first time. Code and models are available at https://github.com/Oliverbansk/Holistic-Robot-Pose-Estimation.

We consider the problem of source-free unsupervised category-level pose estimation from only RGB images to a target domain without any access to source domain data or 3D annotations during adaptation. Collecting and annotating real-world 3D data and corresponding images is laborious, expensive, yet unavoidable process, since even 3D pose domain adaptation methods require 3D data in the target domain. We introduce 3DUDA, a method capable of adapting to a nuisance-ridden target domain without 3D or depth data. Our key insight stems from the observation that specific object subparts remain stable across out-of-domain (OOD) scenarios, enabling strategic utilization of these invariant subcomponents for effective model updates. We represent object categories as simple cuboid meshes, and harness a generative model of neural feature activations modeled at each mesh vertex learnt using differential rendering. We focus on individual locally robust mesh vertex features and iteratively update them based on their proximity to corresponding features in the target domain even when the global pose is not correct. Our model is then trained in an EM fashion, alternating between updating the vertex features and the feature extractor. We show that our method simulates fine-tuning on a global pseudo-labeled dataset under mild assumptions, which converges to the target domain asymptotically. Through extensive empirical validation, including a complex extreme UDA setup which combines real nuisances, synthetic noise, and occlusion, we demonstrate the potency of our simple approach in addressing the domain shift challenge and significantly improving pose estimation accuracy.

Video anomaly detection is an ill-posed problem because it relies on many parameters such as appearance, pose, camera angle, background, and more. We distill the problem to anomaly detection of human pose, thus decreasing the risk of nuisance parameters such as appearance affecting the result. Focusing on pose alone also has the side benefit of reducing bias against distinct minority groups. Our model works directly on human pose graph sequences and is exceptionally lightweight (~1K parameters), capable of running on any machine able to run the pose estimation with negligible additional resources. We leverage the highly compact pose representation in a normalizing flows framework, which we extend to tackle the unique characteristics of spatio-temporal pose data and show its advantages in this use case. The algorithm is quite general and can handle training data of only normal examples as well as a supervised setting that consists of labeled normal and abnormal examples. We report state-of-the-art results on two anomaly detection benchmarks - the unsupervised ShanghaiTech dataset and the recent supervised UBnormal dataset.

With the recent advancements in single-image-based human mesh recovery, there is a growing interest in enhancing its performance in certain extreme scenarios, such as occlusion, while maintaining overall model accuracy. Although obtaining accurately annotated 3D human poses under occlusion is challenging, there is still a wealth of rich and precise 2D pose annotations that can be leveraged. However, existing works mostly focus on directly leveraging 2D pose coordinates to estimate 3D pose and mesh. In this paper, we present PostoMETRO(Pose token enhanced MEsh TRansfOrmer), which integrates occlusion-resilient 2D pose representation into transformers in a token-wise manner. Utilizing a specialized pose tokenizer, we efficiently condense 2D pose data to a compact sequence of pose tokens and feed them to the transformer together with the image tokens. This process not only ensures a rich depiction of texture from the image but also fosters a robust integration of pose and image information. Subsequently, these combined tokens are queried by vertex and joint tokens to decode 3D coordinates of mesh vertices and human joints. Facilitated by the robust pose token representation and the effective combination, we are able to produce more precise 3D coordinates, even under extreme scenarios like occlusion. Experiments on both standard and occlusion-specific benchmarks demonstrate the effectiveness of PostoMETRO. Qualitative results further illustrate the clarity of how 2D pose can help 3D reconstruction. Code will be made available.

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention has been given to their use in absolute pose estimation. We introduce the first general solution to the problem of estimating the pose of a calibrated camera given a single observation of an oriented point and an affine correspondence. The advantage of our approach (P1AC) is that it requires only a single correspondence, in comparison to the traditional point-based approach (P3P), significantly reducing the combinatorics in robust estimation. P1AC provides a general solution that removes restrictive assumptions made in prior work and is applicable to large-scale image-based localization. We propose a minimal solution to the P1AC problem and evaluate our novel solver on synthetic data, showing its numerical stability and performance under various types of noise. On standard image-based localization benchmarks we show that P1AC achieves more accurate results than the widely used P3P algorithm. Code for our method is available at https://github.com/jonathanventura/P1AC/ .

Despite the remarkable progress in generative technology, the Janus-faced issues of intellectual property protection and malicious content supervision have arisen. Efforts have been paid to manage synthetic images by attributing them to a set of potential source models. However, the closed-set classification setting limits the application in real-world scenarios for handling contents generated by arbitrary models. In this study, we focus on a challenging task, namely Open-Set Model Attribution (OSMA), to simultaneously attribute images to known models and identify those from unknown ones. Compared to existing open-set recognition (OSR) tasks focusing on semantic novelty, OSMA is more challenging as the distinction between images from known and unknown models may only lie in visually imperceptible traces. To this end, we propose a Progressive Open Space Expansion (POSE) solution, which simulates open-set samples that maintain the same semantics as closed-set samples but embedded with different imperceptible traces. Guided by a diversity constraint, the open space is simulated progressively by a set of lightweight augmentation models. We consider three real-world scenarios and construct an OSMA benchmark dataset, including unknown models trained with different random seeds, architectures, and datasets from known ones. Extensive experiments on the dataset demonstrate POSE is superior to both existing model attribution methods and off-the-shelf OSR methods.

Animating virtual avatars with free-view control is crucial for various applications like virtual reality and digital entertainment. Previous studies have attempted to utilize the representation power of the neural radiance field (NeRF) to reconstruct the human body from monocular videos. Recent works propose to graft a deformation network into the NeRF to further model the dynamics of the human neural field for animating vivid human motions. However, such pipelines either rely on pose-dependent representations or fall short of motion coherency due to frame-independent optimization, making it difficult to generalize to unseen pose sequences realistically. In this paper, we propose a novel framework MonoHuman, which robustly renders view-consistent and high-fidelity avatars under arbitrary novel poses. Our key insight is to model the deformation field with bi-directional constraints and explicitly leverage the off-the-peg keyframe information to reason the feature correlations for coherent results. Specifically, we first propose a Shared Bidirectional Deformation module, which creates a pose-independent generalizable deformation field by disentangling backward and forward deformation correspondences into shared skeletal motion weight and separate non-rigid motions. Then, we devise a Forward Correspondence Search module, which queries the correspondence feature of keyframes to guide the rendering network. The rendered results are thus multi-view consistent with high fidelity, even under challenging novel pose settings. Extensive experiments demonstrate the superiority of our proposed MonoHuman over state-of-the-art methods.

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do not generalize well to articulated objects in the wild. We treat an articulated object as an unknown, semi-rigid skeletal structure surrounded by nonrigid material (e.g., skin). Our method simultaneously estimates the visible (explicit) representation (3D shapes, colors, camera parameters) and the implicit skeletal representation, from motion cues in the object video without 3D supervision. Our implicit representation consists of four parts. (1) Skeleton, which specifies how semi-rigid parts are connected. (2) black{Skinning Weights}, which associates each surface vertex with semi-rigid parts with probability. (3) Rigidity Coefficients, specifying the articulation of the local surface. (4) Time-Varying Transformations, which specify the skeletal motion and surface deformation parameters. We introduce an algorithm that uses physical constraints as regularization terms and iteratively estimates both implicit and explicit representations. Our method is category-agnostic, thus eliminating the need for category-specific skeletons, we show that our method outperforms state-of-the-art across standard video datasets.

Image-to-video(I2V) generation aims to create a video sequence from a single image, which requires high temporal coherence and visual fidelity with the source image.However, existing approaches suffer from character appearance inconsistency and poor preservation of fine details. Moreover, they require a large amount of video data for training, which can be computationally demanding.To address these limitations,we propose PoseAnimate, a novel zero-shot I2V framework for character animation.PoseAnimate contains three key components: 1) Pose-Aware Control Module (PACM) incorporates diverse pose signals into conditional embeddings, to preserve character-independent content and maintain precise alignment of actions.2) Dual Consistency Attention Module (DCAM) enhances temporal consistency, and retains character identity and intricate background details.3) Mask-Guided Decoupling Module (MGDM) refines distinct feature perception, improving animation fidelity by decoupling the character and background.We also propose a Pose Alignment Transition Algorithm (PATA) to ensure smooth action transition.Extensive experiment results demonstrate that our approach outperforms the state-of-the-art training-based methods in terms of character consistency and detail fidelity. Moreover, it maintains a high level of temporal coherence throughout the generated animations.

We present PersonNeRF, a method that takes a collection of photos of a subject (e.g. Roger Federer) captured across multiple years with arbitrary body poses and appearances, and enables rendering the subject with arbitrary novel combinations of viewpoint, body pose, and appearance. PersonNeRF builds a customized neural volumetric 3D model of the subject that is able to render an entire space spanned by camera viewpoint, body pose, and appearance. A central challenge in this task is dealing with sparse observations; a given body pose is likely only observed by a single viewpoint with a single appearance, and a given appearance is only observed under a handful of different body poses. We address this issue by recovering a canonical T-pose neural volumetric representation of the subject that allows for changing appearance across different observations, but uses a shared pose-dependent motion field across all observations. We demonstrate that this approach, along with regularization of the recovered volumetric geometry to encourage smoothness, is able to recover a model that renders compelling images from novel combinations of viewpoint, pose, and appearance from these challenging unstructured photo collections, outperforming prior work for free-viewpoint human rendering.

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose estimation method that can be trained with pure RGB images without any auxiliary information. We first obtain a rough pose initialization from networks trained on synthetic images rendered from the target's 3D mesh. Then, we introduce a refinement strategy leveraging the geometry constraint in synthetic-to-real image pairs from multiple different views. We formulate this geometry constraint as pixel-level flow consistency between the training images with dynamically generated pseudo labels. We evaluate our method on three challenging datasets and demonstrate that it outperforms state-of-the-art self-supervised methods significantly, with neither 2D annotations nor additional depth images.

Articulated 3D reconstruction has valuable applications in various domains, yet it remains costly and demands intensive work from domain experts. Recent advancements in template-free learning methods show promising results with monocular videos. Nevertheless, these approaches necessitate a comprehensive coverage of all viewpoints of the subject in the input video, thus limiting their applicability to casually captured videos from online sources. In this work, we study articulated 3D shape reconstruction from a single and casually captured internet video, where the subject's view coverage is incomplete. We propose DreaMo that jointly performs shape reconstruction while solving the challenging low-coverage regions with view-conditioned diffusion prior and several tailored regularizations. In addition, we introduce a skeleton generation strategy to create human-interpretable skeletons from the learned neural bones and skinning weights. We conduct our study on a self-collected internet video collection characterized by incomplete view coverage. DreaMo shows promising quality in novel-view rendering, detailed articulated shape reconstruction, and skeleton generation. Extensive qualitative and quantitative studies validate the efficacy of each proposed component, and show existing methods are unable to solve correct geometry due to the incomplete view coverage.

The task of human reposing involves generating a realistic image of a person standing in an arbitrary conceivable pose. There are multiple difficulties in generating perceptually accurate images, and existing methods suffer from limitations in preserving texture, maintaining pattern coherence, respecting cloth boundaries, handling occlusions, manipulating skin generation, etc. These difficulties are further exacerbated by the fact that the possible space of pose orientation for humans is large and variable, the nature of clothing items is highly non-rigid, and the diversity in body shape differs largely among the population. To alleviate these difficulties and synthesize perceptually accurate images, we propose VGFlow. Our model uses a visibility-guided flow module to disentangle the flow into visible and invisible parts of the target for simultaneous texture preservation and style manipulation. Furthermore, to tackle distinct body shapes and avoid network artifacts, we also incorporate a self-supervised patch-wise "realness" loss to improve the output. VGFlow achieves state-of-the-art results as observed qualitatively and quantitatively on different image quality metrics (SSIM, LPIPS, FID).

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models. It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects. In contrast with the state-of-the-art methods, the new objects on which our method is applied can be very different from the training objects. As a result, we are the first to show generalization without retraining on the LINEMOD and Occlusion-LINEMOD datasets. Our analysis of the failure modes of previous template-based approaches further confirms the benefits of local features for template matching. We outperform the state-of-the-art template matching methods on the LINEMOD, Occlusion-LINEMOD and T-LESS datasets. Our source code and data are publicly available at https://github.com/nv-nguyen/template-pose

Objects undergo varying amounts of perspective distortion as they move across a camera's field of view. Models for predicting 3D from a single image often work with crops around the object of interest and ignore the location of the object in the camera's field of view. We note that ignoring this location information further exaggerates the inherent ambiguity in making 3D inferences from 2D images and can prevent models from even fitting to the training data. To mitigate this ambiguity, we propose Intrinsics-Aware Positional Encoding (KPE), which incorporates information about the location of crops in the image and camera intrinsics. Experiments on three popular 3D-from-a-single-image benchmarks: depth prediction on NYU, 3D object detection on KITTI & nuScenes, and predicting 3D shapes of articulated objects on ARCTIC, show the benefits of KPE.

Recent advances in Neural Radiance Fields (NeRFs) have made it possible to reconstruct and reanimate dynamic portrait scenes with control over head-pose, facial expressions and viewing direction. However, training such models assumes photometric consistency over the deformed region e.g. the face must be evenly lit as it deforms with changing head-pose and facial expression. Such photometric consistency across frames of a video is hard to maintain, even in studio environments, thus making the created reanimatable neural portraits prone to artifacts during reanimation. In this work, we propose CoDyNeRF, a system that enables the creation of fully controllable 3D portraits in real-world capture conditions. CoDyNeRF learns to approximate illumination dependent effects via a dynamic appearance model in the canonical space that is conditioned on predicted surface normals and the facial expressions and head-pose deformations. The surface normals prediction is guided using 3DMM normals that act as a coarse prior for the normals of the human head, where direct prediction of normals is hard due to rigid and non-rigid deformations induced by head-pose and facial expression changes. Using only a smartphone-captured short video of a subject for training, we demonstrate the effectiveness of our method on free view synthesis of a portrait scene with explicit head pose and expression controls, and realistic lighting effects. The project page can be found here: http://shahrukhathar.github.io/2023/08/22/CoDyNeRF.html

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast with most NeRF-based methods, we do not assume that the camera-object relative poses are known. Instead, we simultaneously optimize both the object shape and the pose trajectory. As direct optimization over all shape and pose parameters is prone to fail without coarse-level initialization, we propose an incremental approach that starts by splitting the sequence into carefully selected overlapping segments within which the optimization is likely to succeed. We reconstruct the object shape and track its poses independently within each segment, then merge all the segments before performing a global optimization. We show that our method is able to reconstruct the shape and color of both textured and challenging texture-less objects, outperforms classical methods that rely only on appearance features, and that its performance is close to recent methods that assume known camera poses.

Traditional image stitching approaches tend to leverage increasingly complex geometric features (point, line, edge, etc.) for better performance. However, these hand-crafted features are only suitable for specific natural scenes with adequate geometric structures. In contrast, deep stitching schemes overcome the adverse conditions by adaptively learning robust semantic features, but they cannot handle large-parallax cases due to homography-based registration. To solve these issues, we propose UDIS++, a parallax-tolerant unsupervised deep image stitching technique. First, we propose a robust and flexible warp to model the image registration from global homography to local thin-plate spline motion. It provides accurate alignment for overlapping regions and shape preservation for non-overlapping regions by joint optimization concerning alignment and distortion. Subsequently, to improve the generalization capability, we design a simple but effective iterative strategy to enhance the warp adaption in cross-dataset and cross-resolution applications. Finally, to further eliminate the parallax artifacts, we propose to composite the stitched image seamlessly by unsupervised learning for seam-driven composition masks. Compared with existing methods, our solution is parallax-tolerant and free from laborious designs of complicated geometric features for specific scenes. Extensive experiments show our superiority over the SoTA methods, both quantitatively and qualitatively. The code is available at https://github.com/nie-lang/UDIS2.

We present a real-time approach for multi-person 3D motion capture at over 30 fps using a single RGB camera. It operates successfully in generic scenes which may contain occlusions by objects and by other people. Our method operates in subsequent stages. The first stage is a convolutional neural network (CNN) that estimates 2D and 3D pose features along with identity assignments for all visible joints of all individuals.We contribute a new architecture for this CNN, called SelecSLS Net, that uses novel selective long and short range skip connections to improve the information flow allowing for a drastically faster network without compromising accuracy. In the second stage, a fully connected neural network turns the possibly partial (on account of occlusion) 2Dpose and 3Dpose features for each subject into a complete 3Dpose estimate per individual. The third stage applies space-time skeletal model fitting to the predicted 2D and 3D pose per subject to further reconcile the 2D and 3D pose, and enforce temporal coherence. Our method returns the full skeletal pose in joint angles for each subject. This is a further key distinction from previous work that do not produce joint angle results of a coherent skeleton in real time for multi-person scenes. The proposed system runs on consumer hardware at a previously unseen speed of more than 30 fps given 512x320 images as input while achieving state-of-the-art accuracy, which we will demonstrate on a range of challenging real-world scenes.

We propose 3D Congealing, a novel problem of 3D-aware alignment for 2D images capturing semantically similar objects. Given a collection of unlabeled Internet images, our goal is to associate the shared semantic parts from the inputs and aggregate the knowledge from 2D images to a shared 3D canonical space. We introduce a general framework that tackles the task without assuming shape templates, poses, or any camera parameters. At its core is a canonical 3D representation that encapsulates geometric and semantic information. The framework optimizes for the canonical representation together with the pose for each input image, and a per-image coordinate map that warps 2D pixel coordinates to the 3D canonical frame to account for the shape matching. The optimization procedure fuses prior knowledge from a pre-trained image generative model and semantic information from input images. The former provides strong knowledge guidance for this under-constraint task, while the latter provides the necessary information to mitigate the training data bias from the pre-trained model. Our framework can be used for various tasks such as correspondence matching, pose estimation, and image editing, achieving strong results on real-world image datasets under challenging illumination conditions and on in-the-wild online image collections.

Novel-view synthesis (NVS) can be tackled through different approaches, depending on the general setting: a single source image to a short video sequence, exact or noisy camera pose information, 3D-based information such as point clouds etc. The most challenging scenario, the one where we stand in this work, only considers a unique source image to generate a novel one from another viewpoint. However, in such a tricky situation, the latest learning-based solutions often struggle to integrate the camera viewpoint transformation. Indeed, the extrinsic information is often passed as-is, through a low-dimensional vector. It might even occur that such a camera pose, when parametrized as Euler angles, is quantized through a one-hot representation. This vanilla encoding choice prevents the learnt architecture from inferring novel views on a continuous basis (from a camera pose perspective). We claim it exists an elegant way to better encode relative camera pose, by leveraging 3D-related concepts such as the epipolar constraint. We, therefore, introduce an innovative method that encodes the viewpoint transformation as a 2D feature image. Such a camera encoding strategy gives meaningful insights to the network regarding how the camera has moved in space between the two views. By encoding the camera pose information as a finite number of coloured epipolar lines, we demonstrate through our experiments that our strategy outperforms vanilla encoding.

The model-based estimation of 3D animal pose and shape from images enables computational modeling of animal behavior. Training models for this purpose requires large amounts of labeled image data with precise pose and shape annotations. However, capturing such data requires the use of multi-view or marker-based motion-capture systems, which are impractical to adapt to wild animals in situ and impossible to scale across a comprehensive set of animal species. Some have attempted to address the challenge of procuring training data by pseudo-labeling individual real-world images through manual 2D annotation, followed by 3D-parameter optimization to those labels. While this approach may produce silhouette-aligned samples, the obtained pose and shape parameters are often implausible due to the ill-posed nature of the monocular fitting problem. Sidestepping real-world ambiguity, others have designed complex synthetic-data-generation pipelines leveraging video-game engines and collections of artist-designed 3D assets. Such engines yield perfect ground-truth annotations but are often lacking in visual realism and require considerable manual effort to adapt to new species or environments. Motivated by these shortcomings, we propose an alternative approach to synthetic-data generation: rendering with a conditional image-generation model. We introduce a pipeline that samples a diverse set of poses and shapes for a variety of mammalian quadrupeds and generates realistic images with corresponding ground-truth pose and shape parameters. To demonstrate the scalability of our approach, we introduce GenZoo, a synthetic dataset containing one million images of distinct subjects. We train a 3D pose and shape regressor on GenZoo, which achieves state-of-the-art performance on a real-world animal pose and shape estimation benchmark, despite being trained solely on synthetic data. https://genzoo.is.tue.mpg.de

Transformers have recently been shown to generate high quality images from text input. However, the existing method of pose conditioning using skeleton image tokens is computationally inefficient and generate low quality images. Therefore we propose a new method; Keypoint Pose Encoding (KPE); KPE is 10 times more memory efficient and over 73% faster at generating high quality images from text input conditioned on the pose. The pose constraint improves the image quality and reduces errors on body extremities such as arms and legs. The additional benefits include invariance to changes in the target image domain and image resolution, making it easily scalable to higher resolution images. We demonstrate the versatility of KPE by generating photorealistic multiperson images derived from the DeepFashion dataset. We also introduce a evaluation method People Count Error (PCE) that is effective in detecting error in generated human images.

We propose a system for rearranging objects in a scene to achieve a desired object-scene placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline generalizes to novel geometries, poses, and layouts of both scenes and objects, and is trained from demonstrations to operate directly on 3D point clouds. Our system overcomes challenges associated with the existence of many geometrically-similar rearrangement solutions for a given scene. By leveraging an iterative pose de-noising training procedure, we can fit multi-modal demonstration data and produce multi-modal outputs while remaining precise and accurate. We also show the advantages of conditioning on relevant local geometric features while ignoring irrelevant global structure that harms both generalization and precision. We demonstrate our approach on three distinct rearrangement tasks that require handling multi-modality and generalization over object shape and pose in both simulation and the real world. Project website, code, and videos: https://anthonysimeonov.github.io/rpdiff-multi-modal/

This work focuses on the 3D reconstruction of non-rigid objects based on monocular RGB video sequences. Concretely, we aim at building high-fidelity models for generic object categories and casually captured scenes. To this end, we do not assume known root poses of objects, and do not utilize category-specific templates or dense pose priors. The key idea of our method, Root Pose Decomposition (RPD), is to maintain a per-frame root pose transformation, meanwhile building a dense field with local transformations to rectify the root pose. The optimization of local transformations is performed by point registration to the canonical space. We also adapt RPD to multi-object scenarios with object occlusions and individual differences. As a result, RPD allows non-rigid 3D reconstruction for complicated scenarios containing objects with large deformations, complex motion patterns, occlusions, and scale diversities of different individuals. Such a pipeline potentially scales to diverse sets of objects in the wild. We experimentally show that RPD surpasses state-of-the-art methods on the challenging DAVIS, OVIS, and AMA datasets.

Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However, the predominant APR architectures only rely on 2D operations during inference, resulting in limited accuracy of pose estimation due to the lack of 3D geometry constraints or priors. In this work, we propose a test-time refinement pipeline that leverages implicit geometric constraints using a robust feature field to enhance the ability of APR methods to use 3D information during inference. We also introduce a novel Neural Feature Synthesizer (NeFeS) model, which encodes 3D geometric features during training and directly renders dense novel view features at test time to refine APR methods. To enhance the robustness of our model, we introduce a feature fusion module and a progressive training strategy. Our proposed method achieves state-of-the-art single-image APR accuracy on indoor and outdoor datasets.

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only cater to camera-to-world pose estimation, lacking generalizability to different image sizes and camera intrinsics. In this paper, we propose SRPose, a sparse keypoint-based framework for two-view relative pose estimation in camera-to-world and object-to-camera scenarios. SRPose consists of a sparse keypoint detector, an intrinsic-calibration position encoder, and promptable prior knowledge-guided attention layers. Given two RGB images of a fixed scene or a moving object, SRPose estimates the relative camera or 6D object pose transformation. Extensive experiments demonstrate that SRPose achieves competitive or superior performance compared to state-of-the-art methods in terms of accuracy and speed, showing generalizability to both scenarios. It is robust to different image sizes and camera intrinsics, and can be deployed with low computing resources.

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In contrast, existing methods typically pre-train on large-scale, task-specific datasets in order to generalize to new objects and to bridge the image-to-model domain gap. We demonstrate that such generalization capabilities can be observed in a recent vision foundation model trained in a self-supervised manner. Specifically, our method estimates the object pose from image-to-model 2D-3D correspondences, which are established by matching patch descriptors from the recent DINOv2 model between the image and pre-rendered object templates. We find that reliable correspondences can be established by kNN matching of patch descriptors from an intermediate DINOv2 layer. Such descriptors carry stronger positional information than descriptors from the last layer, and we show their importance when semantic information is ambiguous due to object symmetries or a lack of texture. To avoid establishing correspondences against all object templates, we develop an efficient template retrieval approach that integrates the patch descriptors into the bag-of-words representation and can promptly propose a handful of similarly looking templates. Additionally, we apply featuremetric alignment to compensate for discrepancies in the 2D-3D correspondences caused by coarse patch sampling. The resulting method noticeably outperforms existing RGB methods for refinement-free pose estimation on the standard BOP benchmark with seven diverse datasets and can be seamlessly combined with an existing render-and-compare refinement method to achieve RGB-only state-of-the-art results. Project page: evinpinar.github.io/foundpose.

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no provable guarantees on the quality and uncertainty of the estimation. In this paper, we inject two fundamental changes, namely conformal keypoint detection and geometric uncertainty propagation, into the two-stage paradigm and propose the first pose estimator that endows an estimation with provable and computable worst-case error bounds. On one hand, conformal keypoint detection applies the statistical machinery of inductive conformal prediction to convert heuristic keypoint detections into circular or elliptical prediction sets that cover the groundtruth keypoints with a user-specified marginal probability (e.g., 90%). Geometric uncertainty propagation, on the other, propagates the geometric constraints on the keypoints to the 6D object pose, leading to a Pose UnceRtainty SEt (PURSE) that guarantees coverage of the groundtruth pose with the same probability. The PURSE, however, is a nonconvex set that does not directly lead to estimated poses and uncertainties. Therefore, we develop RANdom SAmple averaGing (RANSAG) to compute an average pose and apply semidefinite relaxation to upper bound the worst-case errors between the average pose and the groundtruth. On the LineMOD Occlusion dataset we demonstrate: (i) the PURSE covers the groundtruth with valid probabilities; (ii) the worst-case error bounds provide correct uncertainty quantification; and (iii) the average pose achieves better or similar accuracy as representative methods based on sparse keypoints.

In this paper, we propose ARCH (Animatable Reconstruction of Clothed Humans), a novel end-to-end framework for accurate reconstruction of animation-ready 3D clothed humans from a monocular image. Existing approaches to digitize 3D humans struggle to handle pose variations and recover details. Also, they do not produce models that are animation ready. In contrast, ARCH is a learned pose-aware model that produces detailed 3D rigged full-body human avatars from a single unconstrained RGB image. A Semantic Space and a Semantic Deformation Field are created using a parametric 3D body estimator. They allow the transformation of 2D/3D clothed humans into a canonical space, reducing ambiguities in geometry caused by pose variations and occlusions in training data. Detailed surface geometry and appearance are learned using an implicit function representation with spatial local features. Furthermore, we propose additional per-pixel supervision on the 3D reconstruction using opacity-aware differentiable rendering. Our experiments indicate that ARCH increases the fidelity of the reconstructed humans. We obtain more than 50% lower reconstruction errors for standard metrics compared to state-of-the-art methods on public datasets. We also show numerous qualitative examples of animated, high-quality reconstructed avatars unseen in the literature so far.

Pose Machines provide a sequential prediction framework for learning rich implicit spatial models. In this work we show a systematic design for how convolutional networks can be incorporated into the pose machine framework for learning image features and image-dependent spatial models for the task of pose estimation. The contribution of this paper is to implicitly model long-range dependencies between variables in structured prediction tasks such as articulated pose estimation. We achieve this by designing a sequential architecture composed of convolutional networks that directly operate on belief maps from previous stages, producing increasingly refined estimates for part locations, without the need for explicit graphical model-style inference. Our approach addresses the characteristic difficulty of vanishing gradients during training by providing a natural learning objective function that enforces intermediate supervision, thereby replenishing back-propagated gradients and conditioning the learning procedure. We demonstrate state-of-the-art performance and outperform competing methods on standard benchmarks including the MPII, LSP, and FLIC datasets.

While 3D body reconstruction methods have made remarkable progress recently, it remains difficult to acquire the sufficiently accurate and numerous 3D supervisions required for training. In this paper, we propose KNOWN, a framework that effectively utilizes body KNOWledge and uNcertainty modeling to compensate for insufficient 3D supervisions. KNOWN exploits a comprehensive set of generic body constraints derived from well-established body knowledge. These generic constraints precisely and explicitly characterize the reconstruction plausibility and enable 3D reconstruction models to be trained without any 3D data. Moreover, existing methods typically use images from multiple datasets during training, which can result in data noise (e.g., inconsistent joint annotation) and data imbalance (e.g., minority images representing unusual poses or captured from challenging camera views). KNOWN solves these problems through a novel probabilistic framework that models both aleatoric and epistemic uncertainty. Aleatoric uncertainty is encoded in a robust Negative Log-Likelihood (NLL) training loss, while epistemic uncertainty is used to guide model refinement. Experiments demonstrate that KNOWN's body reconstruction outperforms prior weakly-supervised approaches, particularly on the challenging minority images.

The goal of this paper is to advance the state-of-the-art of articulated pose estimation in scenes with multiple people. To that end we contribute on three fronts. We propose (1) improved body part detectors that generate effective bottom-up proposals for body parts; (2) novel image-conditioned pairwise terms that allow to assemble the proposals into a variable number of consistent body part configurations; and (3) an incremental optimization strategy that explores the search space more efficiently thus leading both to better performance and significant speed-up factors. Evaluation is done on two single-person and two multi-person pose estimation benchmarks. The proposed approach significantly outperforms best known multi-person pose estimation results while demonstrating competitive performance on the task of single person pose estimation. Models and code available at http://pose.mpi-inf.mpg.de

Inferring the structure of 3D scenes from 2D observations is a fundamental challenge in computer vision. Recently popularized approaches based on neural scene representations have achieved tremendous impact and have been applied across a variety of applications. One of the major remaining challenges in this space is training a single model which can provide latent representations which effectively generalize beyond a single scene. Scene Representation Transformer (SRT) has shown promise in this direction, but scaling it to a larger set of diverse scenes is challenging and necessitates accurately posed ground truth data. To address this problem, we propose RUST (Really Unposed Scene representation Transformer), a pose-free approach to novel view synthesis trained on RGB images alone. Our main insight is that one can train a Pose Encoder that peeks at the target image and learns a latent pose embedding which is used by the decoder for view synthesis. We perform an empirical investigation into the learned latent pose structure and show that it allows meaningful test-time camera transformations and accurate explicit pose readouts. Perhaps surprisingly, RUST achieves similar quality as methods which have access to perfect camera pose, thereby unlocking the potential for large-scale training of amortized neural scene representations.

Inferring the 3D structure underlying a set of multi-view images typically requires solving two co-dependent tasks -- accurate 3D reconstruction requires precise camera poses, and predicting camera poses relies on (implicitly or explicitly) modeling the underlying 3D. The classical framework of analysis by synthesis casts this inference as a joint optimization seeking to explain the observed pixels, and recent instantiations learn expressive 3D representations (e.g., Neural Fields) with gradient-descent-based pose refinement of initial pose estimates. However, given a sparse set of observed views, the observations may not provide sufficient direct evidence to obtain complete and accurate 3D. Moreover, large errors in pose estimation may not be easily corrected and can further degrade the inferred 3D. To allow robust 3D reconstruction and pose estimation in this challenging setup, we propose SparseAGS, a method that adapts this analysis-by-synthesis approach by: a) including novel-view-synthesis-based generative priors in conjunction with photometric objectives to improve the quality of the inferred 3D, and b) explicitly reasoning about outliers and using a discrete search with a continuous optimization-based strategy to correct them. We validate our framework across real-world and synthetic datasets in combination with several off-the-shelf pose estimation systems as initialization. We find that it significantly improves the base systems' pose accuracy while yielding high-quality 3D reconstructions that outperform the results from current multi-view reconstruction baselines.

Existing head pose estimation (HPE) mainly focuses on single person with pre-detected frontal heads, which limits their applications in real complex scenarios with multi-persons. We argue that these single HPE methods are fragile and inefficient for Multi-Person Head Pose Estimation (MPHPE) since they rely on the separately trained face detector that cannot generalize well to full viewpoints, especially for heads with invisible face areas. In this paper, we focus on the full-range MPHPE problem, and propose a direct end-to-end simple baseline named DirectMHP. Due to the lack of datasets applicable to the full-range MPHPE, we firstly construct two benchmarks by extracting ground-truth labels for head detection and head orientation from public datasets AGORA and CMU Panoptic. They are rather challenging for having many truncated, occluded, tiny and unevenly illuminated human heads. Then, we design a novel end-to-end trainable one-stage network architecture by joint regressing locations and orientations of multi-head to address the MPHPE problem. Specifically, we regard pose as an auxiliary attribute of the head, and append it after the traditional object prediction. Arbitrary pose representation such as Euler angles is acceptable by this flexible design. Then, we jointly optimize these two tasks by sharing features and utilizing appropriate multiple losses. In this way, our method can implicitly benefit from more surroundings to improve HPE accuracy while maintaining head detection performance. We present comprehensive comparisons with state-of-the-art single HPE methods on public benchmarks, as well as superior baseline results on our constructed MPHPE datasets. Datasets and code are released in https://github.com/hnuzhy/DirectMHP.

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we introduce Orient Anything, the first expert and foundational model designed to estimate object orientation in a single- and free-view image. Due to the scarcity of labeled data, we propose extracting knowledge from the 3D world. By developing a pipeline to annotate the front face of 3D objects and render images from random views, we collect 2M images with precise orientation annotations. To fully leverage the dataset, we design a robust training objective that models the 3D orientation as probability distributions of three angles and predicts the object orientation by fitting these distributions. Besides, we employ several strategies to improve synthetic-to-real transfer. Our model achieves state-of-the-art orientation estimation accuracy in both rendered and real images and exhibits impressive zero-shot ability in various scenarios. More importantly, our model enhances many applications, such as comprehension and generation of complex spatial concepts and 3D object pose adjustment.

Flying Triangulation sensors enable a free-hand and motion-robust 3D data acquisition of complex shaped objects. The measurement principle is based on a multi-line light-sectioning approach and uses sophisticated algorithms for real-time registration (S. Ettl et al., Appl. Opt. 51 (2012) 281-289). As "single-shot principle", light sectioning enables the option to get surface data from one single camera exposure. But there is a drawback: A pixel-dense measurement is not possible because of fundamental information-theoretical reasons. By "pixel-dense" we understand that each pixel displays individually measured distance information, neither interpolated from its neighbour pixels nor using lateral context information. Hence, for monomodal single-shot principles, the 3D data generated from one 2D raw image display a significantly lower space-bandwidth than the camera permits. This is the price one must pay for motion robustness. Currently, our sensors project about 10 lines (each with 1000 pixels), reaching an considerable lower data efficiency than theoretically possible for a single-shot sensor. Our aim is to push Flying Triangulation to its information-theoretical limits. Therefore, the line density as well as the measurement depth needs to be significantly increased. This causes serious indexing ambiguities. On the road to a single-shot 3D movie camera, we are working on solutions to overcome the problem of false line indexing by utilizing yet unexploited information. We will present several approaches and will discuss profound information-theoretical questions about the information efficiency of 3D sensors.

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional dense conditions (e.g., depth map) to ensure motion alignment. However, such strict dense guidance impairs the quality of the generated video when the body shape of the reference character differs significantly from that of the driving video. In this paper, we present DisPose to mine more generalizable and effective control signals without additional dense input, which disentangles the sparse skeleton pose in human image animation into motion field guidance and keypoint correspondence. Specifically, we generate a dense motion field from a sparse motion field and the reference image, which provides region-level dense guidance while maintaining the generalization of the sparse pose control. We also extract diffusion features corresponding to pose keypoints from the reference image, and then these point features are transferred to the target pose to provide distinct identity information. To seamlessly integrate into existing models, we propose a plug-and-play hybrid ControlNet that improves the quality and consistency of generated videos while freezing the existing model parameters. Extensive qualitative and quantitative experiments demonstrate the superiority of DisPose compared to current methods. Code: https://github.com/lihxxx/DisPose{https://github.com/lihxxx/DisPose}.

3D pose estimation is an invaluable task in computer vision with various practical applications. Especially, 3D pose estimation for multi-person from a monocular video (3DMPPE) is particularly challenging and is still largely uncharted, far from applying to in-the-wild scenarios yet. We pose three unresolved issues with the existing methods: lack of robustness on unseen views during training, vulnerability to occlusion, and severe jittering in the output. As a remedy, we propose POTR-3D, the first realization of a sequence-to-sequence 2D-to-3D lifting model for 3DMPPE, powered by a novel geometry-aware data augmentation strategy, capable of generating unbounded data with a variety of views while caring about the ground plane and occlusions. Through extensive experiments, we verify that the proposed model and data augmentation robustly generalizes to diverse unseen views, robustly recovers the poses against heavy occlusions, and reliably generates more natural and smoother outputs. The effectiveness of our approach is verified not only by achieving the state-of-the-art performance on public benchmarks, but also by qualitative results on more challenging in-the-wild videos. Demo videos are available at https://www.youtube.com/@potr3d.

We introduce a method that simultaneously learns to explore new large environments and to reconstruct them in 3D from color images only. This is closely related to the Next Best View problem (NBV), where one has to identify where to move the camera next to improve the coverage of an unknown scene. However, most of the current NBV methods rely on depth sensors, need 3D supervision and/or do not scale to large scenes. Our method requires only a color camera and no 3D supervision. It simultaneously learns in a self-supervised fashion to predict a "volume occupancy field" from color images and, from this field, to predict the NBV. Thanks to this approach, our method performs well on new scenes as it is not biased towards any training 3D data. We demonstrate this on a recent dataset made of various 3D scenes and show it performs even better than recent methods requiring a depth sensor, which is not a realistic assumption for outdoor scenes captured with a flying drone.

We present a computational framework that transforms single images into 3D physical objects. The visual geometry of a physical object in an image is determined by three orthogonal attributes: mechanical properties, external forces, and rest-shape geometry. Existing single-view 3D reconstruction methods often overlook this underlying composition, presuming rigidity or neglecting external forces. Consequently, the reconstructed objects fail to withstand real-world physical forces, resulting in instability or undesirable deformation -- diverging from their intended designs as depicted in the image. Our optimization framework addresses this by embedding physical compatibility into the reconstruction process. We explicitly decompose the three physical attributes and link them through static equilibrium, which serves as a hard constraint, ensuring that the optimized physical shapes exhibit desired physical behaviors. Evaluations on a dataset collected from Objaverse demonstrate that our framework consistently enhances the physical realism of 3D models over existing methods. The utility of our framework extends to practical applications in dynamic simulations and 3D printing, where adherence to physical compatibility is paramount.

We present iFusion, a novel 3D object reconstruction framework that requires only two views with unknown camera poses. While single-view reconstruction yields visually appealing results, it can deviate significantly from the actual object, especially on unseen sides. Additional views improve reconstruction fidelity but necessitate known camera poses. However, assuming the availability of pose may be unrealistic, and existing pose estimators fail in sparse view scenarios. To address this, we harness a pre-trained novel view synthesis diffusion model, which embeds implicit knowledge about the geometry and appearance of diverse objects. Our strategy unfolds in three steps: (1) We invert the diffusion model for camera pose estimation instead of synthesizing novel views. (2) The diffusion model is fine-tuned using provided views and estimated poses, turned into a novel view synthesizer tailored for the target object. (3) Leveraging registered views and the fine-tuned diffusion model, we reconstruct the 3D object. Experiments demonstrate strong performance in both pose estimation and novel view synthesis. Moreover, iFusion seamlessly integrates with various reconstruction methods and enhances them.

Multi-view image generation attracts particular attention these days due to its promising 3D-related applications, e.g., image viewpoint editing. Most existing methods follow a paradigm where a 3D representation is first synthesized, and then rendered into 2D images to ensure photo-consistency across viewpoints. However, such explicit bias for photo-consistency sacrifices photo-realism, causing geometry artifacts and loss of fine-scale details when these methods are applied to edit real images. To address this issue, we propose ray conditioning, a geometry-free alternative that relaxes the photo-consistency constraint. Our method generates multi-view images by conditioning a 2D GAN on a light field prior. With explicit viewpoint control, state-of-the-art photo-realism and identity consistency, our method is particularly suited for the viewpoint editing task.

Collecting accurate camera poses of training images has been shown to well serve the learning of 3D-aware generative adversarial networks (GANs) yet can be quite expensive in practice. This work targets learning 3D-aware GANs from unposed images, for which we propose to perform on-the-fly pose estimation of training images with a learned template feature field (TeFF). Concretely, in addition to a generative radiance field as in previous approaches, we ask the generator to also learn a field from 2D semantic features while sharing the density from the radiance field. Such a framework allows us to acquire a canonical 3D feature template leveraging the dataset mean discovered by the generative model, and further efficiently estimate the pose parameters on real data. Experimental results on various challenging datasets demonstrate the superiority of our approach over state-of-the-art alternatives from both the qualitative and the quantitative perspectives.

Stylizing a dynamic scene based on an exemplar image is critical for various real-world applications, including gaming, filmmaking, and augmented and virtual reality. However, achieving consistent stylization across both spatial and temporal dimensions remains a significant challenge. Most existing methods are designed for static scenes and often require an optimization process for each style image, limiting their adaptability. We introduce ZDySS, a zero-shot stylization framework for dynamic scenes, allowing our model to generalize to previously unseen style images at inference. Our approach employs Gaussian splatting for scene representation, linking each Gaussian to a learned feature vector that renders a feature map for any given view and timestamp. By applying style transfer on the learned feature vectors instead of the rendered feature map, we enhance spatio-temporal consistency across frames. Our method demonstrates superior performance and coherence over state-of-the-art baselines in tests on real-world dynamic scenes, making it a robust solution for practical applications.

Category-Agnostic Pose Estimation (CAPE) localizes keypoints across diverse object categories with a single model, using one or a few annotated support images. Recent works have shown that using a pose graph (i.e., treating keypoints as nodes in a graph rather than isolated points) helps handle occlusions and break symmetry. However, these methods assume a static pose graph with equal-weight edges, leading to suboptimal results. We introduce EdgeCape, a novel framework that overcomes these limitations by predicting the graph's edge weights which optimizes localization. To further leverage structural priors, we propose integrating Markovian Structural Bias, which modulates the self-attention interaction between nodes based on the number of hops between them. We show that this improves the model's ability to capture global spatial dependencies. Evaluated on the MP-100 benchmark, which includes 100 categories and over 20K images, EdgeCape achieves state-of-the-art results in the 1-shot setting and leads among similar-sized methods in the 5-shot setting, significantly improving keypoint localization accuracy. Our code is publicly available.

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision, which provides an additional perspective on the object, can help reduce pose ambiguity and occlusion. Moreover, stereo can directly infer the distance of an object, while mono-vision requires internalized knowledge of the object's size. To extend the state-of-the-art in 6D object pose estimation to stereo, we created a BOP compatible stereo version of the YCB-V dataset. Our method outperforms state-of-the-art 6D pose estimation algorithms by utilizing stereo vision and can easily be adopted for other dense feature-based algorithms.

When applying a pre-trained 2D-to-3D human pose lifting model to a target unseen dataset, large performance degradation is commonly encountered due to domain shift issues. We observe that the degradation is caused by two factors: 1) the large distribution gap over global positions of poses between the source and target datasets due to variant camera parameters and settings, and 2) the deficient diversity of local structures of poses in training. To this end, we combine global adaptation and local generalization in PoseDA, a simple yet effective framework of unsupervised domain adaptation for 3D human pose estimation. Specifically, global adaptation aims to align global positions of poses from the source domain to the target domain with a proposed global position alignment (GPA) module. And local generalization is designed to enhance the diversity of 2D-3D pose mapping with a local pose augmentation (LPA) module. These modules bring significant performance improvement without introducing additional learnable parameters. In addition, we propose local pose augmentation (LPA) to enhance the diversity of 3D poses following an adversarial training scheme consisting of 1) a augmentation generator that generates the parameters of pre-defined pose transformations and 2) an anchor discriminator to ensure the reality and quality of the augmented data. Our approach can be applicable to almost all 2D-3D lifting models. PoseDA achieves 61.3 mm of MPJPE on MPI-INF-3DHP under a cross-dataset evaluation setup, improving upon the previous state-of-the-art method by 10.2\%.

Current methods for learning realistic and animatable 3D clothed avatars need either posed 3D scans or 2D images with carefully controlled user poses. In contrast, our goal is to learn an avatar from only 2D images of people in unconstrained poses. Given a set of images, our method estimates a detailed 3D surface from each image and then combines these into an animatable avatar. Implicit functions are well suited to the first task, as they can capture details like hair and clothes. Current methods, however, are not robust to varied human poses and often produce 3D surfaces with broken or disembodied limbs, missing details, or non-human shapes. The problem is that these methods use global feature encoders that are sensitive to global pose. To address this, we propose ICON ("Implicit Clothed humans Obtained from Normals"), which, instead, uses local features. ICON has two main modules, both of which exploit the SMPL(-X) body model. First, ICON infers detailed clothed-human normals (front/back) conditioned on the SMPL(-X) normals. Second, a visibility-aware implicit surface regressor produces an iso-surface of a human occupancy field. Importantly, at inference time, a feedback loop alternates between refining the SMPL(-X) mesh using the inferred clothed normals and then refining the normals. Given multiple reconstructed frames of a subject in varied poses, we use SCANimate to produce an animatable avatar from them. Evaluation on the AGORA and CAPE datasets shows that ICON outperforms the state of the art in reconstruction, even with heavily limited training data. Additionally, it is much more robust to out-of-distribution samples, e.g., in-the-wild poses/images and out-of-frame cropping. ICON takes a step towards robust 3D clothed human reconstruction from in-the-wild images. This enables creating avatars directly from video with personalized and natural pose-dependent cloth deformation.

Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing architecture complexity. This paper shows that state-of-the-art performance can also be achieved by improving the learning process rather than increasing model complexity. More specifically, we propose (i) disregarding small potentially dynamic objects when training, and (ii) employing an appearance-based approach to separately estimate object pose for truly dynamic objects. We demonstrate that these simplifications reduce GPU memory usage by 29% and result in qualitatively and quantitatively improved depth maps. The code is available at https://github.com/kieran514/Dyna-DM.

This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level pose estimation, we focus on a more challenging problem where CAD models are not available at inference time. Existing approaches mainly follow a complex multi-stage pipeline which first localizes and detects each object instance in the image and then regresses to either their 3D meshes or 6D poses. These approaches suffer from high-computational cost and low performance in complex multi-object scenarios, where occlusions can be present. Hence, we present a simple one-stage approach to predict both the 3D shape and estimate the 6D pose and size jointly in a bounding-box free manner. In particular, our method treats object instances as spatial centers where each center denotes the complete shape of an object along with its 6D pose and size. Through this per-pixel representation, our approach can reconstruct in real-time (40 FPS) multiple novel object instances and predict their 6D pose and sizes in a single-forward pass. Through extensive experiments, we demonstrate that our approach significantly outperforms all shape completion and categorical 6D pose and size estimation baselines on multi-object ShapeNet and NOCS datasets respectively with a 12.6% absolute improvement in mAP for 6D pose for novel real-world object instances.

Is it possible to build a system to determine the location where a photo was taken using just its pixels? In general, the problem seems exceptionally difficult: it is trivial to construct situations where no location can be inferred. Yet images often contain informative cues such as landmarks, weather patterns, vegetation, road markings, and architectural details, which in combination may allow one to determine an approximate location and occasionally an exact location. Websites such as GeoGuessr and View from your Window suggest that humans are relatively good at integrating these cues to geolocate images, especially en-masse. In computer vision, the photo geolocation problem is usually approached using image retrieval methods. In contrast, we pose the problem as one of classification by subdividing the surface of the earth into thousands of multi-scale geographic cells, and train a deep network using millions of geotagged images. While previous approaches only recognize landmarks or perform approximate matching using global image descriptors, our model is able to use and integrate multiple visible cues. We show that the resulting model, called PlaNet, outperforms previous approaches and even attains superhuman levels of accuracy in some cases. Moreover, we extend our model to photo albums by combining it with a long short-term memory (LSTM) architecture. By learning to exploit temporal coherence to geolocate uncertain photos, we demonstrate that this model achieves a 50% performance improvement over the single-image model.

Animal pose estimation is critical in applications ranging from life science research, agriculture, to veterinary medicine. Compared to human pose estimation, the performance of animal pose estimation is limited by the size of available datasets and the generalization of a model across datasets. Typically different keypoints are labeled regardless of whether the species are the same or not, leaving animal pose datasets to have disjoint or partially overlapping keypoints. As a consequence, a model cannot be used as a plug-and-play solution across datasets. This reality motivates us to develop panoptic animal pose estimation models that are able to predict keypoints defined in all datasets. In this work we propose a simple yet effective way to merge differentially labeled datasets to obtain the largest quadruped and lab mouse pose dataset. Using a gradient masking technique, so called SuperAnimal-models are able to predict keypoints that are distributed across datasets and exhibit strong zero-shot performance. The models can be further improved by (pseudo) labeled fine-tuning. These models outperform ImageNet-initialized models.

Automatic perception of human behaviors during social interactions is crucial for AR/VR applications, and an essential component is estimation of plausible 3D human pose and shape of our social partners from the egocentric view. One of the biggest challenges of this task is severe body truncation due to close social distances in egocentric scenarios, which brings large pose ambiguities for unseen body parts. To tackle this challenge, we propose a novel scene-conditioned diffusion method to model the body pose distribution. Conditioned on the 3D scene geometry, the diffusion model generates bodies in plausible human-scene interactions, with the sampling guided by a physics-based collision score to further resolve human-scene inter-penetrations. The classifier-free training enables flexible sampling with different conditions and enhanced diversity. A visibility-aware graph convolution model guided by per-joint visibility serves as the diffusion denoiser to incorporate inter-joint dependencies and per-body-part control. Extensive evaluations show that our method generates bodies in plausible interactions with 3D scenes, achieving both superior accuracy for visible joints and diversity for invisible body parts. The code will be available at https://sanweiliti.github.io/egohmr/egohmr.html.

Scene-level novel view synthesis (NVS) is fundamental to many vision and graphics applications. Recently, pose-conditioned diffusion models have led to significant progress by extracting 3D information from 2D foundation models, but these methods are limited by the lack of scene-level training data. Common dataset choices either consist of isolated objects (Objaverse), or of object-centric scenes with limited pose distributions (DTU, CO3D). In this paper, we create a large-scale scene-level dataset from Internet photo collections, called MegaScenes, which contains over 100K structure from motion (SfM) reconstructions from around the world. Internet photos represent a scalable data source but come with challenges such as lighting and transient objects. We address these issues to further create a subset suitable for the task of NVS. Additionally, we analyze failure cases of state-of-the-art NVS methods and significantly improve generation consistency. Through extensive experiments, we validate the effectiveness of both our dataset and method on generating in-the-wild scenes. For details on the dataset and code, see our project page at https://megascenes.github.io.

The creation of 2D realistic facial images and 3D face shapes using generative networks has been a hot topic in recent years. Existing face generators exhibit exceptional performance on faces in small to medium poses (with respect to frontal faces) but struggle to produce realistic results for large poses. The distorted rendering results on large poses in 3D-aware generators further show that the generated 3D face shapes are far from the distribution of 3D faces in reality. We find that the above issues are caused by the training dataset's pose imbalance. In this paper, we present LPFF, a large-pose Flickr face dataset comprised of 19,590 high-quality real large-pose portrait images. We utilize our dataset to train a 2D face generator that can process large-pose face images, as well as a 3D-aware generator that can generate realistic human face geometry. To better validate our pose-conditional 3D-aware generators, we develop a new FID measure to evaluate the 3D-level performance. Through this novel FID measure and other experiments, we show that LPFF can help 2D face generators extend their latent space and better manipulate the large-pose data, and help 3D-aware face generators achieve better view consistency and more realistic 3D reconstruction results.

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of ground-truth data, learned geometric information, and the need to achieve accurate 3D reconstruction without finetuning, making it difficult for conventional methods to achieve high-quality results. Our model addresses these challenges by effectively integrating explicit 3D representations with self-supervised depth and pose estimation techniques, resulting in reciprocal improvements in both pose accuracy and 3D reconstruction quality. Furthermore, we incorporate a matching-aware pose estimation network and a depth refinement module to enhance geometry consistency across views, ensuring more accurate and stable 3D reconstructions. To present the performance of our method, we evaluated it on large-scale real-world datasets, including RealEstate10K, ACID, and DL3DV. SelfSplat achieves superior results over previous state-of-the-art methods in both appearance and geometry quality, also demonstrates strong cross-dataset generalization capabilities. Extensive ablation studies and analysis also validate the effectiveness of our proposed methods. Code and pretrained models are available at https://gynjn.github.io/selfsplat/

Nowadays, it is possible to scan faces and automatically register them with high quality. However, the resulting face meshes often need further processing: we need to stabilize them to remove unwanted head movement. Stabilization is important for tasks like game development or movie making which require facial expressions to be cleanly separated from rigid head motion. Since manual stabilization is labor-intensive, there have been attempts to automate it. However, previous methods remain impractical: they either still require some manual input, produce imprecise alignments, rely on dubious heuristics and slow optimization, or assume a temporally ordered input. Instead, we present a new learning-based approach that is simple and fully automatic. We treat stabilization as a regression problem: given two face meshes, our network directly predicts the rigid transform between them that brings their skulls into alignment. We generate synthetic training data using a 3D Morphable Model (3DMM), exploiting the fact that 3DMM parameters separate skull motion from facial skin motion. Through extensive experiments we show that our approach outperforms the state-of-the-art both quantitatively and qualitatively on the tasks of stabilizing discrete sets of facial expressions as well as dynamic facial performances. Furthermore, we provide an ablation study detailing the design choices and best practices to help others adopt our approach for their own uses. Supplementary videos can be found on the project webpage syntec-research.github.io/FaceStab.

Tremendous progress in deep generative models has led to photorealistic image synthesis. While achieving compelling results, most approaches operate in the two-dimensional image domain, ignoring the three-dimensional nature of our world. Several recent works therefore propose generative models which are 3D-aware, i.e., scenes are modeled in 3D and then rendered differentiably to the image plane. This leads to impressive 3D consistency, but incorporating such a bias comes at a price: the camera needs to be modeled as well. Current approaches assume fixed intrinsics and a predefined prior over camera pose ranges. As a result, parameter tuning is typically required for real-world data, and results degrade if the data distribution is not matched. Our key hypothesis is that learning a camera generator jointly with the image generator leads to a more principled approach to 3D-aware image synthesis. Further, we propose to decompose the scene into a background and foreground model, leading to more efficient and disentangled scene representations. While training from raw, unposed image collections, we learn a 3D- and camera-aware generative model which faithfully recovers not only the image but also the camera data distribution. At test time, our model generates images with explicit control over the camera as well as the shape and appearance of the scene.

Traditionally, monocular 3D human pose estimation employs a machine learning model to predict the most likely 3D pose for a given input image. However, a single image can be highly ambiguous and induces multiple plausible solutions for the 2D-3D lifting step which results in overly confident 3D pose predictors. To this end, we propose DiffPose, a conditional diffusion model, that predicts multiple hypotheses for a given input image. In comparison to similar approaches, our diffusion model is straightforward and avoids intensive hyperparameter tuning, complex network structures, mode collapse, and unstable training. Moreover, we tackle a problem of the common two-step approach that first estimates a distribution of 2D joint locations via joint-wise heatmaps and consecutively approximates them based on first- or second-moment statistics. Since such a simplification of the heatmaps removes valid information about possibly correct, though labeled unlikely, joint locations, we propose to represent the heatmaps as a set of 2D joint candidate samples. To extract information about the original distribution from these samples we introduce our embedding transformer that conditions the diffusion model. Experimentally, we show that DiffPose slightly improves upon the state of the art for multi-hypothesis pose estimation for simple poses and outperforms it by a large margin for highly ambiguous poses.

We propose a novel generative adversarial network (GAN) for the task of unsupervised learning of 3D representations from natural images. Most generative models rely on 2D kernels to generate images and make few assumptions about the 3D world. These models therefore tend to create blurry images or artefacts in tasks that require a strong 3D understanding, such as novel-view synthesis. HoloGAN instead learns a 3D representation of the world, and to render this representation in a realistic manner. Unlike other GANs, HoloGAN provides explicit control over the pose of generated objects through rigid-body transformations of the learnt 3D features. Our experiments show that using explicit 3D features enables HoloGAN to disentangle 3D pose and identity, which is further decomposed into shape and appearance, while still being able to generate images with similar or higher visual quality than other generative models. HoloGAN can be trained end-to-end from unlabelled 2D images only. Particularly, we do not require pose labels, 3D shapes, or multiple views of the same objects. This shows that HoloGAN is the first generative model that learns 3D representations from natural images in an entirely unsupervised manner.

Test-time adaptation methods have been gaining attention recently as a practical solution for addressing source-to-target domain gaps by gradually updating the model without requiring labels on the target data. In this paper, we propose a method of test-time adaptation for category-level object pose estimation called TTA-COPE. We design a pose ensemble approach with a self-training loss using pose-aware confidence. Unlike previous unsupervised domain adaptation methods for category-level object pose estimation, our approach processes the test data in a sequential, online manner, and it does not require access to the source domain at runtime. Extensive experimental results demonstrate that the proposed pose ensemble and the self-training loss improve category-level object pose performance during test time under both semi-supervised and unsupervised settings. Project page: https://taeyeop.com/ttacope

Human Pose Estimation (HPE) is widely used in various fields, including motion analysis, healthcare, and virtual reality. However, the great expenses of labeled real-world datasets present a significant challenge for HPE. To overcome this, one approach is to train HPE models on synthetic datasets and then perform domain adaptation (DA) on real-world data. Unfortunately, existing DA methods for HPE neglect data privacy and security by using both source and target data in the adaptation process. To this end, we propose a new task, named source-free domain adaptive HPE, which aims to address the challenges of cross-domain learning of HPE without access to source data during the adaptation process. We further propose a novel framework that consists of three models: source model, intermediate model, and target model, which explores the task from both source-protect and target-relevant perspectives. The source-protect module preserves source information more effectively while resisting noise, and the target-relevant module reduces the sparsity of spatial representations by building a novel spatial probability space, and pose-specific contrastive learning and information maximization are proposed on the basis of this space. Comprehensive experiments on several domain adaptive HPE benchmarks show that the proposed method outperforms existing approaches by a considerable margin. The codes are available at https://github.com/davidpengucf/SFDAHPE.

Natural language plays a critical role in many computer vision applications, such as image captioning, visual question answering, and cross-modal retrieval, to provide fine-grained semantic information. Unfortunately, while human pose is key to human understanding, current 3D human pose datasets lack detailed language descriptions. To address this issue, we have introduced the PoseScript dataset. This dataset pairs more than six thousand 3D human poses from AMASS with rich human-annotated descriptions of the body parts and their spatial relationships. Additionally, to increase the size of the dataset to a scale that is compatible with data-hungry learning algorithms, we have proposed an elaborate captioning process that generates automatic synthetic descriptions in natural language from given 3D keypoints. This process extracts low-level pose information, known as "posecodes", using a set of simple but generic rules on the 3D keypoints. These posecodes are then combined into higher level textual descriptions using syntactic rules. With automatic annotations, the amount of available data significantly scales up (100k), making it possible to effectively pretrain deep models for finetuning on human captions. To showcase the potential of annotated poses, we present three multi-modal learning tasks that utilize the PoseScript dataset. Firstly, we develop a pipeline that maps 3D poses and textual descriptions into a joint embedding space, allowing for cross-modal retrieval of relevant poses from large-scale datasets. Secondly, we establish a baseline for a text-conditioned model generating 3D poses. Thirdly, we present a learned process for generating pose descriptions. These applications demonstrate the versatility and usefulness of annotated poses in various tasks and pave the way for future research in the field.

Achieving realistic animated human avatars requires accurate modeling of pose-dependent clothing deformations. Existing learning-based methods heavily rely on the Linear Blend Skinning (LBS) of minimally-clothed human models like SMPL to model deformation. However, these methods struggle to handle loose clothing, such as long dresses, where the canonicalization process becomes ill-defined when the clothing is far from the body, leading to disjointed and fragmented results. To overcome this limitation, we propose a novel hybrid framework to model challenging clothed humans. Our core idea is to use dedicated strategies to model different regions, depending on whether they are close to or distant from the body. Specifically, we segment the human body into three categories: unclothed, deformed, and generated. We simply replicate unclothed regions that require no deformation. For deformed regions close to the body, we leverage LBS to handle the deformation. As for the generated regions, which correspond to loose clothing areas, we introduce a novel free-form, part-aware generator to model them, as they are less affected by movements. This free-form generation paradigm brings enhanced flexibility and expressiveness to our hybrid framework, enabling it to capture the intricate geometric details of challenging loose clothing, such as skirts and dresses. Experimental results on the benchmark dataset featuring loose clothing demonstrate that our method achieves state-of-the-art performance with superior visual fidelity and realism, particularly in the most challenging cases.

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose directly using neural networks are more robust to limited overlap and can infer absolute translation scale, but at the expense of reduced precision. We show how to combine the best of both methods; our approach yields results that are both precise and robust, while also accurately inferring translation scales. At the heart of our model lies a Transformer that (1) learns to balance between solved and learned pose estimations, and (2) provides a prior to guide a solver. A comprehensive analysis supports our design choices and demonstrates that our method adapts flexibly to various feature extractors and correspondence estimators, showing state-of-the-art performance in 6DoF pose estimation on Matterport3D, InteriorNet, StreetLearn, and Map-free Relocalization.

Existing head pose estimation datasets are either composed of numerous samples by non-realistic synthesis or lab collection, or limited images by labor-intensive annotating. This makes deep supervised learning based solutions compromised due to the reliance on generous labeled data. To alleviate it, we propose the first semi-supervised unconstrained head pose estimation (SemiUHPE) method, which can leverage a large amount of unlabeled wild head images. Specifically, we follow the recent semi-supervised rotation regression, and focus on the diverse and complex head pose domain. Firstly, we claim that the aspect-ratio invariant cropping of heads is superior to the previous landmark-based affine alignment, which does not fit unlabeled natural heads or practical applications where landmarks are often unavailable. Then, instead of using an empirically fixed threshold to filter out pseudo labels, we propose the dynamic entropy-based filtering by updating thresholds for adaptively removing unlabeled outliers. Moreover, we revisit the design of weak-strong augmentations, and further exploit its superiority by devising two novel head-oriented strong augmentations named pose-irrelevant cut-occlusion and pose-altering rotation consistency. Extensive experiments show that SemiUHPE can surpass SOTAs with remarkable improvements on public benchmarks under both front-range and full-range. Our code is released in https://github.com/hnuzhy/SemiUHPE.

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for indoor environments. The method proceeds along three steps: (i) efficient retrieval of candidate poses that ensures scalability to large-scale environments, (ii) pose estimation using dense matching rather than local features to deal with textureless indoor scenes, and (iii) pose verification by virtual view synthesis to cope with significant changes in viewpoint, scene layout, and occluders. Second, we collect a new dataset with reference 6DoF poses for large-scale indoor localization. Query photographs are captured by mobile phones at a different time than the reference 3D map, thus presenting a realistic indoor localization scenario. Third, we demonstrate that our method significantly outperforms current state-of-the-art indoor localization approaches on this new challenging data.

Existing sparse-view reconstruction models heavily rely on accurate known camera poses. However, deriving camera extrinsics and intrinsics from sparse-view images presents significant challenges. In this work, we present FreeSplatter, a highly scalable, feed-forward reconstruction framework capable of generating high-quality 3D Gaussians from uncalibrated sparse-view images and recovering their camera parameters in mere seconds. FreeSplatter is built upon a streamlined transformer architecture, comprising sequential self-attention blocks that facilitate information exchange among multi-view image tokens and decode them into pixel-wise 3D Gaussian primitives. The predicted Gaussian primitives are situated in a unified reference frame, allowing for high-fidelity 3D modeling and instant camera parameter estimation using off-the-shelf solvers. To cater to both object-centric and scene-level reconstruction, we train two model variants of FreeSplatter on extensive datasets. In both scenarios, FreeSplatter outperforms state-of-the-art baselines in terms of reconstruction quality and pose estimation accuracy. Furthermore, we showcase FreeSplatter's potential in enhancing the productivity of downstream applications, such as text/image-to-3D content creation.

Dynamic view synthesis (DVS) has advanced remarkably in recent years, achieving high-fidelity rendering while reducing computational costs. Despite the progress, optimizing dynamic neural fields from casual videos remains challenging, as these videos do not provide direct 3D information, such as camera trajectories or the underlying scene geometry. In this work, we present RoDyGS, an optimization pipeline for dynamic Gaussian Splatting from casual videos. It effectively learns motion and underlying geometry of scenes by separating dynamic and static primitives, and ensures that the learned motion and geometry are physically plausible by incorporating motion and geometric regularization terms. We also introduce a comprehensive benchmark, Kubric-MRig, that provides extensive camera and object motion along with simultaneous multi-view captures, features that are absent in previous benchmarks. Experimental results demonstrate that the proposed method significantly outperforms previous pose-free dynamic neural fields and achieves competitive rendering quality compared to existing pose-free static neural fields. The code and data are publicly available at https://rodygs.github.io/.

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations on a category specific deformable shape. We designed a network to generate a proxy ground-truth heatmap from a set of keypoints distributed all over the category-specific mean shape, where each is represented by a unique color on a labeled texture. The proxy ground-truth heatmap is used to train a deep keypoint prediction network, which can be used in online inference. The proposed approach to camera pose prediction show significant improvements when compared with state-of-the-art methods. Our approach to camera pose prediction is used to infer 3D objects from 2D image frames of video sequences online. To train the reconstruction model, it receives only a silhouette mask from a single frame of a video sequence in every training step and a category-specific mean object shape. We conducted experiments using three different datasets representing the bird category: the CUB [51] image dataset, YouTubeVos and the Davis video datasets. The network is trained on the CUB dataset and tested on all three datasets. The online experiments are demonstrated on YouTubeVos and Davis [56] video sequences using a network trained on the CUB training set.

We introduce GNeRF, a framework to marry Generative Adversarial Networks (GAN) with Neural Radiance Field (NeRF) reconstruction for the complex scenarios with unknown and even randomly initialized camera poses. Recent NeRF-based advances have gained popularity for remarkable realistic novel view synthesis. However, most of them heavily rely on accurate camera poses estimation, while few recent methods can only optimize the unknown camera poses in roughly forward-facing scenes with relatively short camera trajectories and require rough camera poses initialization. Differently, our GNeRF only utilizes randomly initialized poses for complex outside-in scenarios. We propose a novel two-phases end-to-end framework. The first phase takes the use of GANs into the new realm for optimizing coarse camera poses and radiance fields jointly, while the second phase refines them with additional photometric loss. We overcome local minima using a hybrid and iterative optimization scheme. Extensive experiments on a variety of synthetic and natural scenes demonstrate the effectiveness of GNeRF. More impressively, our approach outperforms the baselines favorably in those scenes with repeated patterns or even low textures that are regarded as extremely challenging before.

One-class learning is the classic problem of fitting a model to data for which annotations are available only for a single class. In this paper, we propose a novel objective for one-class learning. Our key idea is to use a pair of orthonormal frames -- as subspaces -- to "sandwich" the labeled data via optimizing for two objectives jointly: i) minimize the distance between the origins of the two subspaces, and ii) to maximize the margin between the hyperplanes and the data, either subspace demanding the data to be in its positive and negative orthant respectively. Our proposed objective however leads to a non-convex optimization problem, to which we resort to Riemannian optimization schemes and derive an efficient conjugate gradient scheme on the Stiefel manifold. To study the effectiveness of our scheme, we propose a new dataset~Dash-Cam-Pose, consisting of clips with skeleton poses of humans seated in a car, the task being to classify the clips as normal or abnormal; the latter is when any human pose is out-of-position with regard to say an airbag deployment. Our experiments on the proposed Dash-Cam-Pose dataset, as well as several other standard anomaly/novelty detection benchmarks demonstrate the benefits of our scheme, achieving state-of-the-art one-class accuracy.

We present PreF3R, Pose-Free Feed-forward 3D Reconstruction from an image sequence of variable length. Unlike previous approaches, PreF3R removes the need for camera calibration and reconstructs the 3D Gaussian field within a canonical coordinate frame directly from a sequence of unposed images, enabling efficient novel-view rendering. We leverage DUSt3R's ability for pair-wise 3D structure reconstruction, and extend it to sequential multi-view input via a spatial memory network, eliminating the need for optimization-based global alignment. Additionally, PreF3R incorporates a dense Gaussian parameter prediction head, which enables subsequent novel-view synthesis with differentiable rasterization. This allows supervising our model with the combination of photometric loss and pointmap regression loss, enhancing both photorealism and structural accuracy. Given a sequence of ordered images, PreF3R incrementally reconstructs the 3D Gaussian field at 20 FPS, therefore enabling real-time novel-view rendering. Empirical experiments demonstrate that PreF3R is an effective solution for the challenging task of pose-free feed-forward novel-view synthesis, while also exhibiting robust generalization to unseen scenes.

Self-driving industries usually employ professional artists to build exquisite 3D cars. However, it is expensive to craft large-scale digital assets. Since there are already numerous datasets available that contain a vast number of images of cars, we focus on reconstructing high-quality 3D car models from these datasets. However, these datasets only contain one side of cars in the forward-moving scene. We try to use the existing generative models to provide more supervision information, but they struggle to generalize well in cars since they are trained on synthetic datasets not car-specific. In addition, The reconstructed 3D car texture misaligns due to a large error in camera pose estimation when dealing with in-the-wild images. These restrictions make it challenging for previous methods to reconstruct complete 3D cars. To address these problems, we propose a novel method, named DreamCar, which can reconstruct high-quality 3D cars given a few images even a single image. To generalize the generative model, we collect a car dataset, named Car360, with over 5,600 vehicles. With this dataset, we make the generative model more robust to cars. We use this generative prior specific to the car to guide its reconstruction via Score Distillation Sampling. To further complement the supervision information, we utilize the geometric and appearance symmetry of cars. Finally, we propose a pose optimization method that rectifies poses to tackle texture misalignment. Extensive experiments demonstrate that our method significantly outperforms existing methods in reconstructing high-quality 3D cars. https://xiaobiaodu.github.io/dreamcar-project/{Our code is available.}

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error between the image and the projection of the model. We show that this simple, yet effective, idea is able to achieve state-of-the-art results on pose estimation datasets. Our approach is a departure from recent methods in which the pose refiner is a deep neural network trained on a large synthetic dataset to map inputs to refinement steps. Rather, our use of differentiable rendering allows us to avoid training altogether. Our approach performs multiple gradient descent optimizations in parallel with different random learning rates to avoid local minima from symmetric objects, similar appearances, or wrong step size. Various modalities can be used, e.g., RGB, depth, intensity edges, and object segmentation masks. We present experiments examining the effect of various choices, showing that the best results are found when the RGB image is accompanied by an object mask and depth image to guide the optimization process.

Reconstructing controllable Gaussian splats from monocular video is a challenging task due to its inherently insufficient constraints. Widely adopted approaches supervise complex interactions with additional masks and control signal annotations, limiting their real-world applications. In this paper, we propose an annotation guidance-free method, dubbed FreeGaussian, that mathematically derives dynamic Gaussian motion from optical flow and camera motion using novel dynamic Gaussian constraints. By establishing a connection between 2D flows and 3D Gaussian dynamic control, our method enables self-supervised optimization and continuity of dynamic Gaussian motions from flow priors. Furthermore, we introduce a 3D spherical vector controlling scheme, which represents the state with a 3D Gaussian trajectory, thereby eliminating the need for complex 1D control signal calculations and simplifying controllable Gaussian modeling. Quantitative and qualitative evaluations on extensive experiments demonstrate the state-of-the-art visual performance and control capability of our method. Project page: https://freegaussian.github.io.

The regression of 3D Human Pose and Shape (HPS) from an image is becoming increasingly accurate. This makes the results useful for downstream tasks like human action recognition or 3D graphics. Yet, no regressor is perfect, and accuracy can be affected by ambiguous image evidence or by poses and appearance that are unseen during training. Most current HPS regressors, however, do not report the confidence of their outputs, meaning that downstream tasks cannot differentiate accurate estimates from inaccurate ones. To address this, we develop POCO, a novel framework for training HPS regressors to estimate not only a 3D human body, but also their confidence, in a single feed-forward pass. Specifically, POCO estimates both the 3D body pose and a per-sample variance. The key idea is to introduce a Dual Conditioning Strategy (DCS) for regressing uncertainty that is highly correlated to pose reconstruction quality. The POCO framework can be applied to any HPS regressor and here we evaluate it by modifying HMR, PARE, and CLIFF. In all cases, training the network to reason about uncertainty helps it learn to more accurately estimate 3D pose. While this was not our goal, the improvement is modest but consistent. Our main motivation is to provide uncertainty estimates for downstream tasks; we demonstrate this in two ways: (1) We use the confidence estimates to bootstrap HPS training. Given unlabelled image data, we take the confident estimates of a POCO-trained regressor as pseudo ground truth. Retraining with this automatically-curated data improves accuracy. (2) We exploit uncertainty in video pose estimation by automatically identifying uncertain frames (e.g. due to occlusion) and inpainting these from confident frames. Code and models will be available for research at https://poco.is.tue.mpg.de.

Due to depth ambiguities and occlusions, lifting 2D poses to 3D is a highly ill-posed problem. Well-calibrated distributions of possible poses can make these ambiguities explicit and preserve the resulting uncertainty for downstream tasks. This study shows that previous attempts, which account for these ambiguities via multiple hypotheses generation, produce miscalibrated distributions. We identify that miscalibration can be attributed to the use of sample-based metrics such as minMPJPE. In a series of simulations, we show that minimizing minMPJPE, as commonly done, should converge to the correct mean prediction. However, it fails to correctly capture the uncertainty, thus resulting in a miscalibrated distribution. To mitigate this problem, we propose an accurate and well-calibrated model called Conditional Graph Normalizing Flow (cGNFs). Our model is structured such that a single cGNF can estimate both conditional and marginal densities within the same model - effectively solving a zero-shot density estimation problem. We evaluate cGNF on the Human~3.6M dataset and show that cGNF provides a well-calibrated distribution estimate while being close to state-of-the-art in terms of overall minMPJPE. Furthermore, cGNF outperforms previous methods on occluded joints while it remains well-calibrated.

Human image animation involves generating a video from a static image by following a specified pose sequence. Current approaches typically adopt a multi-stage pipeline that separately learns appearance and motion, which often leads to appearance degradation and temporal inconsistencies. To address these issues, we propose VividPose, an innovative end-to-end pipeline based on Stable Video Diffusion (SVD) that ensures superior temporal stability. To enhance the retention of human identity, we propose an identity-aware appearance controller that integrates additional facial information without compromising other appearance details such as clothing texture and background. This approach ensures that the generated videos maintain high fidelity to the identity of human subject, preserving key facial features across various poses. To accommodate diverse human body shapes and hand movements, we introduce a geometry-aware pose controller that utilizes both dense rendering maps from SMPL-X and sparse skeleton maps. This enables accurate alignment of pose and shape in the generated videos, providing a robust framework capable of handling a wide range of body shapes and dynamic hand movements. Extensive qualitative and quantitative experiments on the UBCFashion and TikTok benchmarks demonstrate that our method achieves state-of-the-art performance. Furthermore, VividPose exhibits superior generalization capabilities on our proposed in-the-wild dataset. Codes and models will be available.

Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale scenes that are further amplified in the absence of ground truth 3D point clouds for supervision. Here, the model can only rely on reprojection constraints and needs to implicitly triangulate the points. The challenges stem from a fundamental dilemma: The network has to be invariant to observations of the same landmark at different viewpoints and lighting conditions, etc., but at the same time discriminate unrelated but similar observations. The latter becomes more relevant and severe in larger scenes. In this work, we tackle this problem by introducing the concept of co-visibility to the network. We propose GLACE, which integrates pre-trained global and local encodings and enables SCR to scale to large scenes with only a single small-sized network. Specifically, we propose a novel feature diffusion technique that implicitly groups the reprojection constraints with co-visibility and avoids overfitting to trivial solutions. Additionally, our position decoder parameterizes the output positions for large-scale scenes more effectively. Without using 3D models or depth maps for supervision, our method achieves state-of-the-art results on large-scale scenes with a low-map-size model. On Cambridge landmarks, with a single model, we achieve 17% lower median position error than Poker, the ensemble variant of the state-of-the-art SCR method ACE. Code is available at: https://github.com/cvg/glace.

Camera pose estimation is crucial for many computer vision applications, yet existing benchmarks offer limited insight into method limitations across different geometric challenges. We introduce RUBIK, a novel benchmark that systematically evaluates image matching methods across well-defined geometric difficulty levels. Using three complementary criteria - overlap, scale ratio, and viewpoint angle - we organize 16.5K image pairs from nuScenes into 33 difficulty levels. Our comprehensive evaluation of 14 methods reveals that while recent detector-free approaches achieve the best performance (>47% success rate), they come with significant computational overhead compared to detector-based methods (150-600ms vs. 40-70ms). Even the best performing method succeeds on only 54.8% of the pairs, highlighting substantial room for improvement, particularly in challenging scenarios combining low overlap, large scale differences, and extreme viewpoint changes. Benchmark will be made publicly available.

Estimating the head pose of a person is a crucial problem that has a large amount of applications such as aiding in gaze estimation, modeling attention, fitting 3D models to video and performing face alignment. Traditionally head pose is computed by estimating some keypoints from the target face and solving the 2D to 3D correspondence problem with a mean human head model. We argue that this is a fragile method because it relies entirely on landmark detection performance, the extraneous head model and an ad-hoc fitting step. We present an elegant and robust way to determine pose by training a multi-loss convolutional neural network on 300W-LP, a large synthetically expanded dataset, to predict intrinsic Euler angles (yaw, pitch and roll) directly from image intensities through joint binned pose classification and regression. We present empirical tests on common in-the-wild pose benchmark datasets which show state-of-the-art results. Additionally we test our method on a dataset usually used for pose estimation using depth and start to close the gap with state-of-the-art depth pose methods. We open-source our training and testing code as well as release our pre-trained models.

Numerous works have recently integrated 3D camera control into foundational text-to-video models, but the resulting camera control is often imprecise, and video generation quality suffers. In this work, we analyze camera motion from a first principles perspective, uncovering insights that enable precise 3D camera manipulation without compromising synthesis quality. First, we determine that motion induced by camera movements in videos is low-frequency in nature. This motivates us to adjust train and test pose conditioning schedules, accelerating training convergence while improving visual and motion quality. Then, by probing the representations of an unconditional video diffusion transformer, we observe that they implicitly perform camera pose estimation under the hood, and only a sub-portion of their layers contain the camera information. This suggested us to limit the injection of camera conditioning to a subset of the architecture to prevent interference with other video features, leading to 4x reduction of training parameters, improved training speed and 10% higher visual quality. Finally, we complement the typical dataset for camera control learning with a curated dataset of 20K diverse dynamic videos with stationary cameras. This helps the model disambiguate the difference between camera and scene motion, and improves the dynamics of generated pose-conditioned videos. We compound these findings to design the Advanced 3D Camera Control (AC3D) architecture, the new state-of-the-art model for generative video modeling with camera control.

The rapid advances in generative AI models have empowered the creation of highly realistic images with arbitrary content, raising concerns about potential misuse and harm, such as Deepfakes. Current research focuses on training detectors using large datasets of generated images. However, these training-based solutions are often computationally expensive and show limited generalization to unseen generated images. In this paper, we propose a training-free method to distinguish between real and AI-generated images. We first observe that real images are more robust to tiny noise perturbations than AI-generated images in the representation space of vision foundation models. Based on this observation, we propose RIGID, a training-free and model-agnostic method for robust AI-generated image detection. RIGID is a simple yet effective approach that identifies whether an image is AI-generated by comparing the representation similarity between the original and the noise-perturbed counterpart. Our evaluation on a diverse set of AI-generated images and benchmarks shows that RIGID significantly outperforms existing trainingbased and training-free detectors. In particular, the average performance of RIGID exceeds the current best training-free method by more than 25%. Importantly, RIGID exhibits strong generalization across different image generation methods and robustness to image corruptions.

Training state-of-the-art models for human pose estimation in videos requires datasets with annotations that are really hard and expensive to obtain. Although transformers have been recently utilized for body pose sequence modeling, related methods rely on pseudo-ground truth to augment the currently limited training data available for learning such models. In this paper, we introduce PoseBERT, a transformer module that is fully trained on 3D Motion Capture (MoCap) data via masked modeling. It is simple, generic and versatile, as it can be plugged on top of any image-based model to transform it in a video-based model leveraging temporal information. We showcase variants of PoseBERT with different inputs varying from 3D skeleton keypoints to rotations of a 3D parametric model for either the full body (SMPL) or just the hands (MANO). Since PoseBERT training is task agnostic, the model can be applied to several tasks such as pose refinement, future pose prediction or motion completion without finetuning. Our experimental results validate that adding PoseBERT on top of various state-of-the-art pose estimation methods consistently improves their performances, while its low computational cost allows us to use it in a real-time demo for smoothly animating a robotic hand via a webcam. Test code and models are available at https://github.com/naver/posebert.

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to guide and improve 2D tracking with an explicit object representation, namely the textured 3D shape and 6DoF pose in each video frame. Our representation tackles a complex long-term dense correspondence problem between all 3D points on the object for all video frames, including frames where some points are invisible. To achieve that, the estimation is driven by re-rendering the input video frames as well as possible through differentiable rendering, which has not been used for tracking before. The proposed optimization minimizes a novel loss function to estimate the best 3D shape, texture, and 6DoF pose. We improve the state-of-the-art in 2D segmentation tracking on three different datasets with mostly rigid objects.

This paper presents a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven key-feature distributions and outlier correspondences, which can potentially decrease the accuracy of an essential matrix, our method optimizes a non-rigid transformation to deform a spherical camera into a new spatial domain, defining a new constraint and a more robust and accurate solution for an essential matrix. Through several experiments using random synthetic points, 360-FoV, and fish-eye images, we demonstrate that our normalization can increase the camera pose accuracy by about 20% without significantly overhead the computation time. In addition, we present further benefits of our method through both a constant weighted least-square optimization that improves further the well known Gold Standard Method (GSM) (i.e., the non-linear optimization by using epipolar errors); and a relaxation of the number of RANSAC iterations, both showing that our normalization outcomes a more reliable, robust, and accurate solution.

This paper tackles the challenge of creating relightable and animatable neural avatars from sparse-view (or even monocular) videos of dynamic humans under unknown illumination. Compared to studio environments, this setting is more practical and accessible but poses an extremely challenging ill-posed problem. Previous neural human reconstruction methods are able to reconstruct animatable avatars from sparse views using deformed Signed Distance Fields (SDF) but cannot recover material parameters for relighting. While differentiable inverse rendering-based methods have succeeded in material recovery of static objects, it is not straightforward to extend them to dynamic humans as it is computationally intensive to compute pixel-surface intersection and light visibility on deformed SDFs for inverse rendering. To solve this challenge, we propose a Hierarchical Distance Query (HDQ) algorithm to approximate the world space distances under arbitrary human poses. Specifically, we estimate coarse distances based on a parametric human model and compute fine distances by exploiting the local deformation invariance of SDF. Based on the HDQ algorithm, we leverage sphere tracing to efficiently estimate the surface intersection and light visibility. This allows us to develop the first system to recover animatable and relightable neural avatars from sparse view (or monocular) inputs. Experiments demonstrate that our approach is able to produce superior results compared to state-of-the-art methods. Our code will be released for reproducibility.

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of additional engineering or graph optimisation. The algorithm can operate indoors and outdoors in real time, taking 5ms per frame to compute. It obtains approximately 2m and 6 degree accuracy for large scale outdoor scenes and 0.5m and 10 degree accuracy indoors. This is achieved using an efficient 23 layer deep convnet, demonstrating that convnets can be used to solve complicated out of image plane regression problems. This was made possible by leveraging transfer learning from large scale classification data. We show the convnet localizes from high level features and is robust to difficult lighting, motion blur and different camera intrinsics where point based SIFT registration fails. Furthermore we show how the pose feature that is produced generalizes to other scenes allowing us to regress pose with only a few dozen training examples. PoseNet code, dataset and an online demonstration is available on our project webpage, at http://mi.eng.cam.ac.uk/projects/relocalisation/

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous applications. However, feature-based methods often struggle with significant viewpoint and appearance changes, leading to matching failures and inaccurate pose estimates. To overcome this limitation, we propose a novel approach that leverages a globally sparse yet locally dense 3D representation of 2D features. By tracking and triangulating landmarks over a sequence of frames, we construct a sparse voxel map optimized to render image patch descriptors observed during tracking. Given an initial pose estimate, we first synthesize descriptors from the voxels using volumetric rendering and then perform feature matching to estimate the camera pose. This methodology enables the generation of descriptors for unseen views, enhancing robustness to view changes. We extensively evaluate our method on the 7-Scenes and Cambridge Landmarks datasets. Our results show that our method significantly outperforms existing state-of-the-art feature representation techniques in indoor environments, achieving up to a 39% improvement in median translation error. Additionally, our approach yields comparable results to other methods for outdoor scenarios while maintaining lower memory and computational costs.

Most recent garment capturing techniques rely on acquiring multiple views of clothing, which may not always be readily available, especially in the case of pre-existing photographs from the web. As an alternative, we pro- pose a method that is able to compute a rich and realistic 3D model of a human body and its outfits from a single photograph with little human in- teraction. Our algorithm is not only able to capture the global shape and geometry of the clothing, it can also extract small but important details of cloth, such as occluded wrinkles and folds. Unlike previous methods using full 3D information (i.e. depth, multi-view images, or sampled 3D geom- etry), our approach achieves detailed garment recovery from a single-view image by using statistical, geometric, and physical priors and a combina- tion of parameter estimation, semantic parsing, shape recovery, and physics- based cloth simulation. We demonstrate the effectiveness of our algorithm by re-purposing the reconstructed garments for virtual try-on and garment transfer applications, as well as cloth animation for digital characters.

The problem of modeling an animatable 3D human head avatar under light-weight setups is of significant importance but has not been well solved. Existing 3D representations either perform well in the realism of portrait images synthesis or the accuracy of expression control, but not both. To address the problem, we introduce a novel hybrid explicit-implicit 3D representation, Facial Model Conditioned Neural Radiance Field, which integrates the expressiveness of NeRF and the prior information from the parametric template. At the core of our representation, a synthetic-renderings-based condition method is proposed to fuse the prior information from the parametric model into the implicit field without constraining its topological flexibility. Besides, based on the hybrid representation, we properly overcome the inconsistent shape issue presented in existing methods and improve the animation stability. Moreover, by adopting an overall GAN-based architecture using an image-to-image translation network, we achieve high-resolution, realistic and view-consistent synthesis of dynamic head appearance. Experiments demonstrate that our method can achieve state-of-the-art performance for 3D head avatar animation compared with previous methods.

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods, we consider NBV prediction from a depth sensor like Lidar systems. Learning-based methods relying on a volumetric representation of the scene are suitable for path planning, but have lower accuracy than methods using a surface-based representation. However, the latter do not scale well with the size of the scene and constrain the camera to a small number of poses. To obtain the advantages of both representations, we show that we can maximize surface metrics by Monte Carlo integration over a volumetric representation. In particular, we propose an approach, SCONE, that relies on two neural modules: The first module predicts occupancy probability in the entire volume of the scene. Given any new camera pose, the second module samples points in the scene based on their occupancy probability and leverages a self-attention mechanism to predict the visibility of the samples. Finally, we integrate the visibility to evaluate the gain in surface coverage for the new camera pose. NBV is selected as the pose that maximizes the gain in total surface coverage. Our method scales to large scenes and handles free camera motion: It takes as input an arbitrarily large point cloud gathered by a depth sensor as well as camera poses to predict NBV. We demonstrate our approach on a novel dataset made of large and complex 3D scenes.

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are continuously introduced, especially with heavy occlusions. In this work, we propose a few-shot pose estimation (FSPE) approach called SA6D, which uses a self-adaptive segmentation module to identify the novel target object and construct a point cloud model of the target object using only a small number of cluttered reference images. Unlike existing methods, SA6D does not require object-centric reference images or any additional object information, making it a more generalizable and scalable solution across categories. We evaluate SA6D on real-world tabletop object datasets and demonstrate that SA6D outperforms existing FSPE methods, particularly in cluttered scenes with occlusions, while requiring fewer reference images.

Neural Radiance Fields (NeRFs) have revolutionized the reconstruction of static scenes and objects in 3D, offering unprecedented quality. However, extending NeRFs to model dynamic objects or object articulations remains a challenging problem. Previous works have tackled this issue by focusing on part-level reconstruction and motion estimation for objects, but they often rely on heuristics regarding the number of moving parts or object categories, which can limit their practical use. In this work, we introduce LEIA, a novel approach for representing dynamic 3D objects. Our method involves observing the object at distinct time steps or "states" and conditioning a hypernetwork on the current state, using this to parameterize our NeRF. This approach allows us to learn a view-invariant latent representation for each state. We further demonstrate that by interpolating between these states, we can generate novel articulation configurations in 3D space that were previously unseen. Our experimental results highlight the effectiveness of our method in articulating objects in a manner that is independent of the viewing angle and joint configuration. Notably, our approach outperforms previous methods that rely on motion information for articulation registration.

Non-line-of-sight (NLOS) imaging is conducted to infer invisible scenes from indirect light on visible objects. The neural transient field (NeTF) was proposed for representing scenes as neural radiance fields in NLOS scenes. We propose NLOS neural implicit surface (NLOS-NeuS), which extends the NeTF to neural implicit surfaces with a signed distance function (SDF) for reconstructing three-dimensional surfaces in NLOS scenes. We introduce two constraints as loss functions for correctly learning an SDF to avoid non-zero level-set surfaces. We also introduce a lower bound constraint of an SDF based on the geometry of the first-returning photons. The experimental results indicate that these constraints are essential for learning a correct SDF in NLOS scenes. Compared with previous methods with discretized representation, NLOS-NeuS with the neural continuous representation enables us to reconstruct smooth surfaces while preserving fine details in NLOS scenes. To the best of our knowledge, this is the first study on neural implicit surfaces with volume rendering in NLOS scenes.

Existing multi-view image generation methods often make invasive modifications to pre-trained text-to-image (T2I) models and require full fine-tuning, leading to (1) high computational costs, especially with large base models and high-resolution images, and (2) degradation in image quality due to optimization difficulties and scarce high-quality 3D data. In this paper, we propose the first adapter-based solution for multi-view image generation, and introduce MV-Adapter, a versatile plug-and-play adapter that enhances T2I models and their derivatives without altering the original network structure or feature space. By updating fewer parameters, MV-Adapter enables efficient training and preserves the prior knowledge embedded in pre-trained models, mitigating overfitting risks. To efficiently model the 3D geometric knowledge within the adapter, we introduce innovative designs that include duplicated self-attention layers and parallel attention architecture, enabling the adapter to inherit the powerful priors of the pre-trained models to model the novel 3D knowledge. Moreover, we present a unified condition encoder that seamlessly integrates camera parameters and geometric information, facilitating applications such as text- and image-based 3D generation and texturing. MV-Adapter achieves multi-view generation at 768 resolution on Stable Diffusion XL (SDXL), and demonstrates adaptability and versatility. It can also be extended to arbitrary view generation, enabling broader applications. We demonstrate that MV-Adapter sets a new quality standard for multi-view image generation, and opens up new possibilities due to its efficiency, adaptability and versatility.

Given a pair of partially overlapping source and target images and a keypoint in the source image, the keypoint's correspondent in the target image can be either visible, occluded or outside the field of view. Local feature matching methods are only able to identify the correspondent's location when it is visible, while humans can also hallucinate its location when it is occluded or outside the field of view through geometric reasoning. In this paper, we bridge this gap by training a network to output a peaked probability distribution over the correspondent's location, regardless of this correspondent being visible, occluded, or outside the field of view. We experimentally demonstrate that this network is indeed able to hallucinate correspondences on pairs of images captured in scenes that were not seen at training-time. We also apply this network to an absolute camera pose estimation problem and find it is significantly more robust than state-of-the-art local feature matching-based competitors.

One-shot video-driven talking face generation aims at producing a synthetic talking video by transferring the facial motion from a video to an arbitrary portrait image. Head pose and facial expression are always entangled in facial motion and transferred simultaneously. However, the entanglement sets up a barrier for these methods to be used in video portrait editing directly, where it may require to modify the expression only while maintaining the pose unchanged. One challenge of decoupling pose and expression is the lack of paired data, such as the same pose but different expressions. Only a few methods attempt to tackle this challenge with the feat of 3D Morphable Models (3DMMs) for explicit disentanglement. But 3DMMs are not accurate enough to capture facial details due to the limited number of Blenshapes, which has side effects on motion transfer. In this paper, we introduce a novel self-supervised disentanglement framework to decouple pose and expression without 3DMMs and paired data, which consists of a motion editing module, a pose generator, and an expression generator. The editing module projects faces into a latent space where pose motion and expression motion can be disentangled, and the pose or expression transfer can be performed in the latent space conveniently via addition. The two generators render the modified latent codes to images, respectively. Moreover, to guarantee the disentanglement, we propose a bidirectional cyclic training strategy with well-designed constraints. Evaluations demonstrate our method can control pose or expression independently and be used for general video editing.

Depth estimation is a cornerstone for autonomous driving, yet acquiring per-pixel depth ground truth for supervised learning is challenging. Self-Supervised Surround Depth Estimation (SSSDE) from consecutive images offers an economical alternative. While previous SSSDE methods have proposed different mechanisms to fuse information across images, few of them explicitly consider the cross-view constraints, leading to inferior performance, particularly in overlapping regions. This paper proposes an efficient and consistent pose estimation design and two loss functions to enhance cross-view consistency for SSSDE. For pose estimation, we propose to use only front-view images to reduce training memory and sustain pose estimation consistency. The first loss function is the dense depth consistency loss, which penalizes the difference between predicted depths in overlapping regions. The second one is the multi-view reconstruction consistency loss, which aims to maintain consistency between reconstruction from spatial and spatial-temporal contexts. Additionally, we introduce a novel flipping augmentation to improve the performance further. Our techniques enable a simple neural model to achieve state-of-the-art performance on the DDAD and nuScenes datasets. Last but not least, our proposed techniques can be easily applied to other methods. The code will be made public.

Neural surface reconstruction is sensitive to the camera pose noise, even if state-of-the-art pose estimators like COLMAP or ARKit are used. More importantly, existing Pose-NeRF joint optimisation methods have struggled to improve pose accuracy in challenging real-world scenarios. To overcome the challenges, we introduce the pose residual field (PoRF), a novel implicit representation that uses an MLP for regressing pose updates. This is more robust than the conventional pose parameter optimisation due to parameter sharing that leverages global information over the entire sequence. Furthermore, we propose an epipolar geometry loss to enhance the supervision that leverages the correspondences exported from COLMAP results without the extra computational overhead. Our method yields promising results. On the DTU dataset, we reduce the rotation error by 78\% for COLMAP poses, leading to the decreased reconstruction Chamfer distance from 3.48mm to 0.85mm. On the MobileBrick dataset that contains casually captured unbounded 360-degree videos, our method refines ARKit poses and improves the reconstruction F1 score from 69.18 to 75.67, outperforming that with the dataset provided ground-truth pose (75.14). These achievements demonstrate the efficacy of our approach in refining camera poses and improving the accuracy of neural surface reconstruction in real-world scenarios.

We present ZeroComp, an effective zero-shot 3D object compositing approach that does not require paired composite-scene images during training. Our method leverages ControlNet to condition from intrinsic images and combines it with a Stable Diffusion model to utilize its scene priors, together operating as an effective rendering engine. During training, ZeroComp uses intrinsic images based on geometry, albedo, and masked shading, all without the need for paired images of scenes with and without composite objects. Once trained, it seamlessly integrates virtual 3D objects into scenes, adjusting shading to create realistic composites. We developed a high-quality evaluation dataset and demonstrate that ZeroComp outperforms methods using explicit lighting estimations and generative techniques in quantitative and human perception benchmarks. Additionally, ZeroComp extends to real and outdoor image compositing, even when trained solely on synthetic indoor data, showcasing its effectiveness in image compositing.

We present an algorithm for reconstructing the radiance field of a large-scale scene from a single casually captured video. The task poses two core challenges. First, most existing radiance field reconstruction approaches rely on accurate pre-estimated camera poses from Structure-from-Motion algorithms, which frequently fail on in-the-wild videos. Second, using a single, global radiance field with finite representational capacity does not scale to longer trajectories in an unbounded scene. For handling unknown poses, we jointly estimate the camera poses with radiance field in a progressive manner. We show that progressive optimization significantly improves the robustness of the reconstruction. For handling large unbounded scenes, we dynamically allocate new local radiance fields trained with frames within a temporal window. This further improves robustness (e.g., performs well even under moderate pose drifts) and allows us to scale to large scenes. Our extensive evaluation on the Tanks and Temples dataset and our collected outdoor dataset, Static Hikes, show that our approach compares favorably with the state-of-the-art.

Recent advancements in 3D object reconstruction from single images have primarily focused on improving the accuracy of object shapes. Yet, these techniques often fail to accurately capture the inter-relation between the object, ground, and camera. As a result, the reconstructed objects often appear floating or tilted when placed on flat surfaces. This limitation significantly affects 3D-aware image editing applications like shadow rendering and object pose manipulation. To address this issue, we introduce ORG (Object Reconstruction with Ground), a novel task aimed at reconstructing 3D object geometry in conjunction with the ground surface. Our method uses two compact pixel-level representations to depict the relationship between camera, object, and ground. Experiments show that the proposed ORG model can effectively reconstruct object-ground geometry on unseen data, significantly enhancing the quality of shadow generation and pose manipulation compared to conventional single-image 3D reconstruction techniques.

Image-based virtual try-on, widely used in online shopping, aims to generate images of a naturally dressed person conditioned on certain garments, providing significant research and commercial potential. A key challenge of try-on is to generate realistic images of the model wearing the garments while preserving the details of the garments. Previous methods focus on masking certain parts of the original model's standing image, and then inpainting on masked areas to generate realistic images of the model wearing corresponding reference garments, which treat the try-on task as an inpainting task. However, such implements require the user to provide a complete, high-quality standing image, which is user-unfriendly in practical applications. In this paper, we propose Try-On-Adapter (TOA), an outpainting paradigm that differs from the existing inpainting paradigm. Our TOA can preserve the given face and garment, naturally imagine the rest parts of the image, and provide flexible control ability with various conditions, e.g., garment properties and human pose. In the experiments, TOA shows excellent performance on the virtual try-on task even given relatively low-quality face and garment images in qualitative comparisons. Additionally, TOA achieves the state-of-the-art performance of FID scores 5.56 and 7.23 for paired and unpaired on the VITON-HD dataset in quantitative comparisons.

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects, expensive dataset annotation costs, and complex real-world environments. In this paper, we propose a novel self-supervised approach that leverages a single-frame point cloud to solve this task. Our model consistently generates reconstruction with a canonical pose and joint state for the entire input object, and it estimates object-level poses that reduce overall pose variance and part-level poses that align each part of the input with its corresponding part of the reconstruction. Experimental results demonstrate that our approach significantly outperforms previous self-supervised methods and is comparable to the state-of-the-art supervised methods. To assess the performance of our model in real-world scenarios, we also introduce a new real-world articulated object benchmark dataset.

In this paper, we propose an algorithm that allows joint refinement of camera pose and scene geometry represented by decomposed low-rank tensor, using only 2D images as supervision. First, we conduct a pilot study based on a 1D signal and relate our findings to 3D scenarios, where the naive joint pose optimization on voxel-based NeRFs can easily lead to sub-optimal solutions. Moreover, based on the analysis of the frequency spectrum, we propose to apply convolutional Gaussian filters on 2D and 3D radiance fields for a coarse-to-fine training schedule that enables joint camera pose optimization. Leveraging the decomposition property in decomposed low-rank tensor, our method achieves an equivalent effect to brute-force 3D convolution with only incurring little computational overhead. To further improve the robustness and stability of joint optimization, we also propose techniques of smoothed 2D supervision, randomly scaled kernel parameters, and edge-guided loss mask. Extensive quantitative and qualitative evaluations demonstrate that our proposed framework achieves superior performance in novel view synthesis as well as rapid convergence for optimization.

6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to generalize across unseen instances within the same category. However, this generalization is limited by the narrow range of categories covered by existing datasets, such as NOCS, which also tend to overlook common real-world challenges like occlusion. To tackle these challenges, we introduce Omni6D, a comprehensive RGBD dataset featuring a wide range of categories and varied backgrounds, elevating the task to a more realistic context. 1) The dataset comprises an extensive spectrum of 166 categories, 4688 instances adjusted to the canonical pose, and over 0.8 million captures, significantly broadening the scope for evaluation. 2) We introduce a symmetry-aware metric and conduct systematic benchmarks of existing algorithms on Omni6D, offering a thorough exploration of new challenges and insights. 3) Additionally, we propose an effective fine-tuning approach that adapts models from previous datasets to our extensive vocabulary setting. We believe this initiative will pave the way for new insights and substantial progress in both the industrial and academic fields, pushing forward the boundaries of general 6D pose estimation.

In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D rotation matrix representation for efficient and robust direct regression. This way, our method can learn the full rotation appearance which is contrary to previous approaches that restrict the pose prediction to a narrow-angle for satisfactory results. In addition, we propose a geodesic distance-based loss to penalize our network with respect to the SO(3) manifold geometry. Experiments on the public AFLW2000 and BIWI datasets demonstrate that our proposed method significantly outperforms other state-of-the-art methods by up to 20\%. We open-source our training and testing code along with our pre-trained models: https://github.com/thohemp/6DRepNet.

Multi-person articulated pose tracking in unconstrained videos is an important while challenging problem. In this paper, going along the road of top-down approaches, we propose a decent and efficient pose tracker based on pose flows. First, we design an online optimization framework to build the association of cross-frame poses and form pose flows (PF-Builder). Second, a novel pose flow non-maximum suppression (PF-NMS) is designed to robustly reduce redundant pose flows and re-link temporal disjoint ones. Extensive experiments show that our method significantly outperforms best-reported results on two standard Pose Tracking datasets by 13 mAP 25 MOTA and 6 mAP 3 MOTA respectively. Moreover, in the case of working on detected poses in individual frames, the extra computation of pose tracker is very minor, guaranteeing online 10FPS tracking. Our source codes are made publicly available(https://github.com/YuliangXiu/PoseFlow).

Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that may not align with users' expectations. In this paper, we explore an important scenario in which the input consists of one or a few unposed 2D images of a single object, with little or no overlap. We propose a novel method, SpaRP, to reconstruct a 3D textured mesh and estimate the relative camera poses for these sparse-view images. SpaRP distills knowledge from 2D diffusion models and finetunes them to implicitly deduce the 3D spatial relationships between the sparse views. The diffusion model is trained to jointly predict surrogate representations for camera poses and multi-view images of the object under known poses, integrating all information from the input sparse views. These predictions are then leveraged to accomplish 3D reconstruction and pose estimation, and the reconstructed 3D model can be used to further refine the camera poses of input views. Through extensive experiments on three datasets, we demonstrate that our method not only significantly outperforms baseline methods in terms of 3D reconstruction quality and pose prediction accuracy but also exhibits strong efficiency. It requires only about 20 seconds to produce a textured mesh and camera poses for the input views. Project page: https://chaoxu.xyz/sparp.

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach practical deployment. In this paper, we propose a novel pose estimation algorithm named CheckerPose, which improves on three main aspects. Firstly, CheckerPose densely samples 3D keypoints from the surface of the 3D object and finds their 2D correspondences progressively in the 2D image. Compared to previous solutions that conduct dense sampling in the image space, our strategy enables the correspondence searching in a 2D grid (i.e., pixel coordinate). Secondly, for our 3D-to-2D correspondence, we design a compact binary code representation for 2D image locations. This representation not only allows for progressive correspondence refinement but also converts the correspondence regression to a more efficient classification problem. Thirdly, we adopt a graph neural network to explicitly model the interactions among the sampled 3D keypoints, further boosting the reliability and accuracy of the correspondences. Together, these novel components make CheckerPose a strong pose estimation algorithm. When evaluated on the popular Linemod, Linemod-O, and YCB-V object pose estimation benchmarks, CheckerPose clearly boosts the accuracy of correspondence-based methods and achieves state-of-the-art performances. Code is available at https://github.com/RuyiLian/CheckerPose.

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose Regression (APR) architecture, together with an augmented NeRF module. This integration not only facilitates the generation of novel views to enrich the training dataset but also enables the learning of effective pose features. Additionally, we extend our architecture for self-supervised online alignment, allowing our method to be used and fine-tuned for unlabelled images within a unified framework. Experiments demonstrate that our method achieves 14.28% and 20.51% performance gain on average in indoor and outdoor benchmark scenes, outperforming existing APR methods with state-of-the-art accuracy.

3D Gaussian Splatting (3DGS) is a promising technique for 3D reconstruction, offering efficient training and rendering speeds, making it suitable for real-time applications.However, current methods require highly controlled environments (no moving people or wind-blown elements, and consistent lighting) to meet the inter-view consistency assumption of 3DGS. This makes reconstruction of real-world captures problematic. We present SpotlessSplats, an approach that leverages pre-trained and general-purpose features coupled with robust optimization to effectively ignore transient distractors. Our method achieves state-of-the-art reconstruction quality both visually and quantitatively, on casual captures.

Faithful human performance capture and free-view rendering from sparse RGB observations is a long-standing problem in Vision and Graphics. The main challenges are the lack of observations and the inherent ambiguities of the setting, e.g. occlusions and depth ambiguity. As a result, radiance fields, which have shown great promise in capturing high-frequency appearance and geometry details in dense setups, perform poorly when naively supervising them on sparse camera views, as the field simply overfits to the sparse-view inputs. To address this, we propose MetaCap, a method for efficient and high-quality geometry recovery and novel view synthesis given very sparse or even a single view of the human. Our key idea is to meta-learn the radiance field weights solely from potentially sparse multi-view videos, which can serve as a prior when fine-tuning them on sparse imagery depicting the human. This prior provides a good network weight initialization, thereby effectively addressing ambiguities in sparse-view capture. Due to the articulated structure of the human body and motion-induced surface deformations, learning such a prior is non-trivial. Therefore, we propose to meta-learn the field weights in a pose-canonicalized space, which reduces the spatial feature range and makes feature learning more effective. Consequently, one can fine-tune our field parameters to quickly generalize to unseen poses, novel illumination conditions as well as novel and sparse (even monocular) camera views. For evaluating our method under different scenarios, we collect a new dataset, WildDynaCap, which contains subjects captured in, both, a dense camera dome and in-the-wild sparse camera rigs, and demonstrate superior results compared to recent state-of-the-art methods on, both, public and WildDynaCap dataset.

The large abundance of perspective camera datasets facilitated the emergence of novel learning-based strategies for various tasks, such as camera localization, single image depth estimation, or view synthesis. However, panoramic or omnidirectional image datasets, including essential information, such as pose and depth, are mostly made with synthetic scenes. In this work, we introduce a large scale 360^{circ} videos dataset in the wild. This dataset has been carefully scraped from the Internet and has been captured from various locations worldwide. Hence, this dataset exhibits very diversified environments (e.g., indoor and outdoor) and contexts (e.g., with and without moving objects). Each of the 25K images constituting our dataset is provided with its respective camera's pose and depth map. We illustrate the relevance of our dataset for two main tasks, namely, single image depth estimation and view synthesis.

Neural radiance fields (NeRF) is a promising approach for generating photorealistic images and representing complex scenes. However, when processing data sequentially, it can suffer from catastrophic forgetting, where previous data is easily forgotten after training with new data. Existing incremental learning methods using knowledge distillation assume that continuous data chunks contain both 2D images and corresponding camera pose parameters, pre-estimated from the complete dataset. This poses a paradox as the necessary camera pose must be estimated from the entire dataset, even though the data arrives sequentially and future chunks are inaccessible. In contrast, we focus on a practical scenario where camera poses are unknown. We propose IL-NeRF, a novel framework for incremental NeRF training, to address this challenge. IL-NeRF's key idea lies in selecting a set of past camera poses as references to initialize and align the camera poses of incoming image data. This is followed by a joint optimization of camera poses and replay-based NeRF distillation. Our experiments on real-world indoor and outdoor scenes show that IL-NeRF handles incremental NeRF training and outperforms the baselines by up to 54.04% in rendering quality.

Controlling the movements of dynamic objects and the camera within generated videos is a meaningful yet challenging task. Due to the lack of datasets with comprehensive motion annotations, existing algorithms can not simultaneously control the motions of both camera and objects, resulting in limited controllability over generated contents. To address this issue and facilitate the research in this field, we introduce a Synthetic Dataset for Free-Form Motion Control (SynFMC). The proposed SynFMC dataset includes diverse objects and environments and covers various motion patterns according to specific rules, simulating common and complex real-world scenarios. The complete 6D pose information facilitates models learning to disentangle the motion effects from objects and the camera in a video. To validate the effectiveness and generalization of SynFMC, we further propose a method, Free-Form Motion Control (FMC). FMC enables independent or simultaneous control of object and camera movements, producing high-fidelity videos. Moreover, it is compatible with various personalized text-to-image (T2I) models for different content styles. Extensive experiments demonstrate that the proposed FMC outperforms previous methods across multiple scenarios.

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors between the target view and the synthesized views from its adjacent source views as the loss. Despite significant progress, the learning still suffers from occlusion and scene dynamics. This paper shows that carefully manipulating photometric errors can tackle these difficulties better. The primary improvement is achieved by a statistical technique that can mask out the invisible or nonstationary pixels in the photometric error map and thus prevents misleading the networks. With this outlier masking approach, the depth of objects moving in the opposite direction to the camera can be estimated more accurately. To the best of our knowledge, such scenarios have not been seriously considered in the previous works, even though they pose a higher risk in applications like autonomous driving. We also propose an efficient weighted multi-scale scheme to reduce the artifacts in the predicted depth maps. Extensive experiments on the KITTI dataset show the effectiveness of the proposed approaches. The overall system achieves state-of-theart performance on both depth and ego-motion estimation.

Rendering scenes observed in a monocular video from novel viewpoints is a challenging problem. For static scenes the community has studied both scene-specific optimization techniques, which optimize on every test scene, and generalized techniques, which only run a deep net forward pass on a test scene. In contrast, for dynamic scenes, scene-specific optimization techniques exist, but, to our best knowledge, there is currently no generalized method for dynamic novel view synthesis from a given monocular video. To answer whether generalized dynamic novel view synthesis from monocular videos is possible today, we establish an analysis framework based on existing techniques and work toward the generalized approach. We find a pseudo-generalized process without scene-specific appearance optimization is possible, but geometrically and temporally consistent depth estimates are needed. Despite no scene-specific appearance optimization, the pseudo-generalized approach improves upon some scene-specific methods.

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot accuracy. This challenge is particularly evident in autonomous vehicles and mobile robotics, where data is collected with fixed camera setups, limiting the geometric diversity. Yet, this context also presents an opportunity: the fixed relationship between the camera and the ground plane imposes additional perspective geometry constraints, enabling depth regression via vertical image positions of objects. However, this cue is highly susceptible to overfitting, thus we propose a novel canonical representation that maintains consistency across varied camera setups, effectively disentangling depth from specific parameters and enhancing generalization across datasets. We also propose a novel architecture that adaptively and probabilistically fuses depths estimated via object size and vertical image position cues. A comprehensive evaluation demonstrates the effectiveness of the proposed approach on five autonomous driving datasets, achieving accurate metric depth estimation for varying resolutions, aspect ratios and camera setups. Notably, we achieve comparable accuracy to existing zero-shot methods, despite training on a single dataset with a single-camera setup.

Expressive human pose and shape estimation (EHPS) unifies body, hands, and face motion capture with numerous applications. Despite encouraging progress, current state-of-the-art methods focus on training innovative architectural designs on confined datasets. In this work, we investigate the impact of scaling up EHPS towards a family of generalist foundation models. 1) For data scaling, we perform a systematic investigation on 40 EHPS datasets, encompassing a wide range of scenarios that a model trained on any single dataset cannot handle. More importantly, capitalizing on insights obtained from the extensive benchmarking process, we optimize our training scheme and select datasets that lead to a significant leap in EHPS capabilities. Ultimately, we achieve diminishing returns at 10M training instances from diverse data sources. 2) For model scaling, we take advantage of vision transformers (up to ViT-Huge as the backbone) to study the scaling law of model sizes in EHPS. To exclude the influence of algorithmic design, we base our experiments on two minimalist architectures: SMPLer-X, which consists of an intermediate step for hand and face localization, and SMPLest-X, an even simpler version that reduces the network to its bare essentials and highlights significant advances in the capture of articulated hands. With big data and the large model, the foundation models exhibit strong performance across diverse test benchmarks and excellent transferability to even unseen environments. Moreover, our finetuning strategy turns the generalist into specialist models, allowing them to achieve further performance boosts. Notably, our foundation models consistently deliver state-of-the-art results on seven benchmarks such as AGORA, UBody, EgoBody, and our proposed SynHand dataset for comprehensive hand evaluation. (Code is available at: https://github.com/wqyin/SMPLest-X).