3D 视觉

Move to Understand a 3D Scene: Bridging Visual Grounding and Exploration for Efficient and Versatile Embodied Navigation

Ziyu Zhu, Xilin Wang, Yixuan Li, Zhuofan Zhang, Xiaojian Ma, Yixin Chen, Baoxiong Jia, Wei Liang, Qian Yu, Zhidong Deng, Siyuan Huang, Qing Li

机构 * Tsinghua University（清华大学） ； Beijing Institute of Technology（北京理工大学） ； Beihang University（北航） ； State Key Laboratory of General Artificial Intelligence, BIGAI, China（国家一般人工智能重点实验室, BIGAI, 中国） 纠错

专题命中 三维重建 ：3D vision(abstract,comments)；3D reconstruction(abstract)；point cloud(abstract)；分类 cs.CV

Comments Embodied AI; 3D Vision Language Understanding; ICCV 2025 Highlight; https://mtu3d.github.io; Spatial intelligence

UAVScenes: A Multi-Modal Dataset for UAVs

Sijie Wang, Siqi Li, Yawei Zhang, Shangshu Yu, Shenghai Yuan, Rui She, Quanjiang Guo, JinXuan Zheng, Ong Kang Howe, Leonrich Chandra, Shrivarshann Srijeyan, Aditya Sivadas, Toshan Aggarwal, Heyuan Liu, Hongming Zhang, Chujie Chen, Junyu Jiang, Lihua Xie, Wee Peng Tay

机构 * Nanyang Technological University（南洋理工大学） ； School of Computer Science and Engineering, Northeastern University（东北大学计算机科学与工程学院） ； Beihang University（北航大学） ； University of Electronic Science and Technology of China（电子科技大学） 纠错

专题命中 三维重建 ：3D reconstruction(abstract)；point cloud(abstract)；novel view synthesis(abstract)；分类 cs.CV

Comments Accepted by ICCV 2025

Mesh based segmentation for automated margin line generation on incisors receiving crown treatment

Ammar Alsheghri, Ying Zhang, Farnoosh Ghadiri, Julia Keren, Farida Cheriet, Francois Guibault

专题命中 三维重建 ：point cloud(abstract)；分类 cs.CV

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat

Desiree Fisker, Alexander Krawciw, Sven Lilge, Melissa Greeff, Timothy D. Barfoot

机构 * University of Toronto Robotics Institute（多伦多大学机器人研究所） ； University of Toronto Institute of Aerospace Studies（多伦多大学航空航天研究学院） ； Ingenuity Labs（Ingenuity实验室） ； Department of Electrical and Computer Engineering（电气与计算机工程系） 纠错

专题命中 NeRF ：NeRF(abstract)；point cloud(abstract)；分类 cs.RO

Comments 8 pages, 8 figures, accepted to IROS 2025

Gaussian On-the-Fly Splatting: A Progressive Framework for Robust Near Real-Time 3DGS Optimization

Yiwei Xu, Yifei Yu, Wentian Gan, Tengfei Wang, Zongqian Zhan, Hao Cheng, Xin Wang

机构 * School of Geodesy and Geomatics, Wuhan University（武汉大学测绘学院） 纠错

专题命中 Gaussian Splatting ：3DGS(title,abstract)；Gaussian Splatting(abstract)；分类 cs.CV

No Redundancy, No Stall: Lightweight Streaming 3D Gaussian Splatting for Real-time Rendering

Linye Wei, Jiajun Tang, Fan Fei, Boxin Shi, Runsheng Wang, Meng Li

专题命中 Gaussian Splatting ：Gaussian Splatting(title,abstract)；3DGS(abstract)

Comments Accepted by International Conference on Computer-Aided Design (ICCAD) 2025

Generalized and Efficient 2D Gaussian Splatting for Arbitrary-scale Super-Resolution

Du Chen, Liyi Chen, Zhengqiang Zhang, Lei Zhang

机构 * The Hong Kong Polytechnic University（香港理工大学） ； OPPO Research Institute（OPPO研究院） 纠错

专题命中 Gaussian Splatting ：Gaussian Splatting(title,abstract)；分类 cs.CV

Comments Accepted by ICCV 2025

FOCI: Trajectory Optimization on Gaussian Splats

Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm, Vaishakh Patil, Jesus Tordesillas, Marco Hutter

机构 * Robotic Systems Lab, ETH Zürich（苏黎世联邦理工学院机器人系统实验室） ； IIT and ICAI, Comillas Pontifical University（科利马斯天主教大学IIT和ICAI） 纠错

专题命中 Gaussian Splatting ：Gaussian Splatting(abstract)；3DGS(abstract)；3D reconstruction(abstract)；分类 cs.RO

Comments 8 pages, 8 figures, Mario Gomez Andreu and Maximum Wilder-Smith contributed equally

GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics

Qianzhong Chen, Jiankai Sun, Naixiang Gao, JunEn Low, Timothy Chen, Mac Schwager

机构 * Department of Mechanical Engineering, Stanford University（机械工程系，斯坦福大学） ； Aeronautics and Astronautics Department, Stanford University（航空宇航工程系，斯坦福大学） 纠错

专题命中 Gaussian Splatting ：Gaussian Splatting(abstract)；3DGS(abstract)；分类 cs.RO

Distance and Collision Probability Estimation from Gaussian Surface Models

Kshitij Goel, Wennie Tabib

机构 * The Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

专题命中 Gaussian Splatting ：point cloud(abstract)；分类 cs.CV、cs.GR、cs.RO

Comments Accepted at IROS 2025

TurboReg: TurboClique for Robust and Efficient Point Cloud Registration

Shaocheng Yan, Pengcheng Shi, Zhenjun Zhao, Kaixin Wang, Kuang Cao, Ji Wu, Jiayuan Li

机构 * School of Remote Sensing and Information Engineering, Wuhan University（武汉大学遥感与信息工程学院） ； Department of Computer and Systems Engineering, University of Zaragoza（阿拉维扎大学计算机与系统工程系） ； College of Computer Science, Beijing University of Technology（北京理工大学计算机学院） ； School of Computer Science, Wuhan University（武汉大学计算机学院） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV

Comments ICCV-2025 Accepted Paper

StruMamba3D: Exploring Structural Mamba for Self-supervised Point Cloud Representation Learning

Chuxin Wang, Yixin Zha, Wenfei Yang, Tianzhu Zhang

机构 * University of Science and Technology of China（中国科学技术大学） 纠错

专题命中 点云 ：point cloud(title,abstract)；分类 cs.CV

Comments Accepted by ICCV 2025, website: https://chuxwa.github.io/project_StruMamba3D/

TopoLiDM: Topology-Aware LiDAR Diffusion Models for Interpretable and Realistic LiDAR Point Cloud Generation

Jiuming Liu, Zheng Huang, Mengmeng Liu, Tianchen Deng, Francesco Nex, Hao Cheng, Hesheng Wang

机构 * School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240（上海交通大学自动化与智能感知学院） ； Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240（中国教育部系统控制与信息处理重点实验室） ； University of Twente, Netherlands（荷兰埃因霍温理工大学） 纠错

专题命中 点云 ：point cloud(title)；分类 cs.CV

Comments Accepted by IROS 2025. Code:https://github.com/IRMVLab/TopoLiDM

Graph-Guided Dual-Level Augmentation for 3D Scene Segmentation

Hongbin Lin, Yifan Jiang, Juangui Xu, Jesse Jiaxi Xu, Yi Lu, Zhengyu Hu, Ying-Cong Chen, Hao Wang

机构 * The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州）） ； University of Toronto（多伦多大学） 纠错

专题命中 点云 ：point cloud(abstract)；spatial understanding(abstract)；分类 cs.CV

Comments 15 pages, 11 figures, to be published in ACMMM 2025 Conference

Recognizing Actions from Robotic View for Natural Human-Robot Interaction

Ziyi Wang, Peiming Li, Hong Liu, Zhichao Deng, Can Wang, Jun Liu, Junsong Yuan, Mengyuan Liu

机构 * State Key Laboratory of General Artificial Intelligence, Peking University, Shenzhen Graduate School（1 人工智能通用基础理论国家重点实验室，北京大学深圳研究生院） ； Sun Yat-sen University（2 中山大学） ； Kiel University（3 科尔堡大学） ； Lancaster University（4 拉斯特纳大学） ； State University of New York at Buffalo（5 纽约州立大学布法罗分校） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV、cs.RO

Comments 8 pages, 4 figures, Accepted to ICCV2025

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation

Manthan Patel, Fan Yang, Yuheng Qiu, Cesar Cadena, Sebastian Scherer, Marco Hutter, Wenshan Wang

机构 * Robotic Systems Lab, ETH Zurich（苏黎世联邦理工学院机器人系统实验室） ； Robotics Institute of Carnegie Mellon University（卡内基梅隆大学机器人研究所） 纠错

专题命中 点云 ：point cloud(abstract)；分类 cs.CV、cs.RO

Comments Accepted for publication to IEEE/RSJ IROS 2025

Language Driven Occupancy Prediction

Zhu Yu, Bowen Pang, Lizhe Liu, Runmin Zhang, Qiang Li, Si-Yuan Cao, Maochun Luo, Mingxia Chen, Sheng Yang, Hui-Liang Shen

机构 * Zhejiang University（浙江大学） ； Unmanned Vehicle Dept., CaiNiao Inc., Alibaba Group（无人车辆部门，菜鸟公司，阿里巴巴集团） ； Ningbo Global Innovation Center, Zhejiang University（宁波全球创新中心，浙江大学） 纠错

专题命中 空间理解 ：point cloud(abstract)；分类 cs.CV

Comments ICCV 2025; Project Page: https://github.com/pkqbajng/LOcc