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首次观测 · 记录 #1CVF · CVPR 2026:cvf:0eacb6325fd5479b4371d788e6bcbb8eCVF · CVPR 2026

ReScene4D: Temporally Consistent Semantic Instance Segmentation of Evolving Indoor 3D Scenes

Steiner, Emily, Zheng, Jianhao, Howard-Jenkins, Henry, Xie, Chris, Armeni, Iro

原文摘要

Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We introduce and formalize the task of temporally sparse 4D indoor semantic instance segmentation (SIS), which jointly segments, identifies, and temporally associates object instances. This setting poses a challenge for existing 3DSIS methods, which require a discrete matching step due to their lack of temporal reasoning, and for 4D LiDAR approaches, which perform poorly due to their reliance on high-frequency temporal measurements that are uncommon in the longer-horizon evolution of indoor environments. We propose ReScene4D, a novel method that adapts 3DSIS architectures for 4DSIS without needing dense observations. Our method enables temporal information sharing--using spatiotemporal contrastive loss, masking, and serialization--to adaptively leverage geometric and semantic priors across observations. This shared context enables consistent instance tracking and improves standard 3DSIS performance. To evaluate this task, we define a new metric, t-mAP, that extends mAP to reward temporal identity consistency. ReScene4D achieves state-of-the-art performance on the 3RScan dataset, establishing a new benchmark for understanding evolving indoor scenes.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:5a1a36ba88dabd85d1d9eb4105b6ffa0CVF · CVPR 2026

ShapeR: Robust Conditional 3D Shape Generation from Casual Captures

Siddiqui, Yawar, Frost, Duncan, Aroudj, Samir, Avetisyan, Armen, Howard-Jenkins, Henry, DeTone, Daniel, Moulon, Pierre, Wu, Qirui 等 12 位作者

原文摘要

Recent advances in 3D shape generation have achieved impressive results, but most existing methods rely on clean, unoccluded, and well-segmented inputs. Such conditions are rarely met in real-world scenarios. We present ShapeR, a novel approach for conditional 3D object shape generation from casually captured sequences. Given a image sequence, we leverage off-the-shelf visual-inertial SLAM,3D detection algorithms and VLMs to extract for each object, a set of sparse SLAM points, posed multi-view images, and machine-generated captions. A rectified flow transformer trained to effectively condition on these modalities then generates high-fidelity metric 3D shapes. To ensure robustness to the challenges of casually captured data, we employ a range of techniques including on-the-fly compositional augmentations, a curriculum training scheme spanning object- and scene-level datasets, and strategies to handle background clutter. Additionally, we introduce a new evaluation benchmark comprising 178 in the wild objects across 7 real-world scenes with geometry annotations. Experiments show that ShapeR significantly outperforms existing approaches in this challenging setting, achieving an improvement of 2.7x in Chamfer distance compared to SoTA.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:7cc54b4cb7ca9ab44b3f13f5404bdfa7CVF · CVPR 2026

JRM: Joint Reconstruction Model for Multiple Objects without Alignment

Wu, Qirui, Siddiqui, Yawar, Frost, Duncan, Aroudj, Samir, Avetisyan, Armen, Newcombe, Richard, Chang, Angel X., Engel, Jakob 等 9 位作者

原文摘要

Object-centric reconstruction seeks to recover the 3D structure of a scene through composition of independent objects. While this independence can simplify modeling, it discards strong signals that could improve reconstruction, notably repetition where the same object model is seen multiple times in a scene, or across scans. We propose the Joint Reconstruction Model (JRM) to leverage repetition by framing object reconstruction as one of personalized generation: multiple observations share a common subject that should be consistent for all observations, while still adhering to the specific pose and state from each. Prior methods in this direction rely on explicit matching and rigid alignment across observations, making them sensitive to errors and difficult to extend to non-rigid transformations. In contrast, JRM is a 3D flow-matching generative model that implicitly aggregates unaligned observations in its latent space, learning to produce consistent and faithful reconstructions in a data-driven manner without explicit constraints. Evaluations on synthetic and real-world data show that JRM's implicit aggregation removes the need for explicit alignment, improves robustness to incorrect associations, and naturally handles non-rigid changes such as articulation. Overall, JRM outperforms both independent and alignment-based baselines in reconstruction quality.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:ae4a94b102755781b6a7a8afd8f2e170CVF · CVPR 2026

ART: Articulated Reconstruction Transformer

Li, Zizhang, Zhang, Cheng, Li, Zhengqin, Howard-Jenkins, Henry, Lv, Zhaoyang, Geng, Chen, Wu, Jiajun, Newcombe, Richard 等 10 位作者

原文摘要

We introduce ART, Articulated Reconstruction Transformer--a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object reconstruction either rely on slow optimization with fragile cross-state correspondences or use feed-forward models limited to specific object categories. In contrast, ART treats articulated objects as assemblies of rigid parts, formulating reconstruction as a part-based prediction problem. Our newly designed transformer architecture maps sparse image inputs to a set of learnable part slots, from which ART jointly decodes unified representations for individual parts, including their 3D geometry, texture, and explicit articulation parameters. The resulting reconstructions are physically interpretable and readily exportable to standard simulation formats. Trained on a large-scale, diverse dataset with per-part supervision, and evaluated across diverse benchmarks, ART achieves significant improvements over existing baselines and establishes a new state of the art for articulated object reconstruction from image inputs.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗