Robust 3D Alignment of Generative Reconstructions via Partial Monocular Observations
基于部分单目观测的生成式重建鲁棒3D对齐
机构 * School of Computer Science, Shanghai Jiao Tong University(上海交通大学计算机科学与技术学院) ; School of Computer Science and Engineering, Nanjing University of Science and Technology(南京理工大学计算机科学与工程学院) ; School of Engineering and Applied Science, University of Pennsylvania(宾夕法尼亚大学工程与应用科学学院) ; School of Tech Electrical and Information Engineering, Tianjin University(天津大学电气与信息工程学院) ; Independent Researcher(独立研究员) ; School of Electronic Engineering and Information Science, University of Science and Technology of China(中国科学技术大学电子工程与信息科学学院) ; Gaoling School of Artificial Intelligence, Renmin University of China(中国人民大学高瓴人工智能学院) ; School of Robotics, Wuhan University(武汉大学机器人学院) ; Xiaomi EV(小米汽车)
AI总结 针对生成式3D重建与部分单目观测对齐的挑战,提出无训练可解释几何对齐框架,通过Sim(3)变换恢复度量尺度与位姿,引入幻觉滤波抑制异常,在基准测试中显著优于传统和学习方法。