Jiaxiong Qiu

Jiaxiong Qiu, Peng-Tao Jiang, Yifan Zhu et al.

Neural implicit methods have achieved high-quality 3D object surfaces under slight specular highlights. However, high specular reflections (HSR) often appear in front of target objects when we capture them through glasses. The complex ambiguity in these scenes violates the multi-view consistency, then makes it challenging for recent methods to reconstruct target objects correctly. To remedy this issue, we present a novel surface reconstruction framework, NeuS-HSR, based on implicit neural rendering. In NeuS-HSR, the object surface is parameterized as an implicit signed distance function (SDF). To reduce the interference of HSR, we propose decomposing the rendered image into two appearances: the target object and the auxiliary plane. We design a novel auxiliary plane module by combining physical assumptions and neural networks to generate the auxiliary plane appearance. Extensive experiments on synthetic and real-world datasets demonstrate that NeuS-HSR outperforms state-of-the-art approaches for accurate and robust target surface reconstruction against HSR. Code is available at https://github.com/JiaxiongQ/NeuS-HSR.

Ze-Xin Yin, Jiaxiong Qiu, Liu Liu et al.

The labor- and experience-intensive creation of 3D assets with physically based rendering (PBR) materials demands an autonomous 3D asset creation pipeline. However, most existing 3D generation methods focus on geometry modeling, either baking textures into simple vertex colors or leaving texture synthesis to post-processing with image diffusion models. To achieve end-to-end PBR-ready 3D asset generation, we present Lightweight Gaussian Asset Adapter (LGAA), a novel framework that unifies the modeling of geometry and PBR materials by exploiting multi-view (MV) diffusion priors from a novel perspective. The LGAA features a modular design with three components. Specifically, the LGAA Wrapper reuses and adapts network layers from MV diffusion models, which encapsulate knowledge acquired from billions of images, enabling better convergence in a data-efficient manner. To incorporate multiple diffusion priors for geometry and PBR synthesis, the LGAA Switcher aligns multiple LGAA Wrapper layers encapsulating different knowledge. Then, a tamed variational autoencoder (VAE), termed LGAA Decoder, is designed to predict 2D Gaussian Splatting (2DGS) with PBR channels. Finally, we introduce a dedicated post-processing procedure to effectively extract high-quality, relightable mesh assets from the resulting 2DGS. Extensive quantitative and qualitative experiments demonstrate the superior performance of LGAA with both text-and image-conditioned MV diffusion models. Additionally, the modular design enables flexible incorporation of multiple diffusion priors, and the knowledge-preserving scheme leads to efficient convergence trained on merely 69k multi-view instances. Our code, pre-trained weights, and the dataset used will be publicly available via our project page: https://zx-yin.github.io/dreamlifting/.

Tingyang Xiao, Xiaolin Zhou, Liu Liu et al.

This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-inertial SLAM for legged robotics undergoing aggressive and high-frequency motions.By integrating geometric consistency, legged odometry constraints, and dual-stream optical flow (GeoFlow), our method addresses three critical challenges:feature matching and pose initialization failures during fast locomotion and visual feature scarcity in texture-less scenes.Specifically, in rapid motion scenarios, feature matching is notably enhanced by leveraging dual-stream optical flow, which combines prior map points and poses. Additionally, we propose a robust pose initialization method for fast locomotion and IMU error in legged robots, integrating IMU/Legged odometry, inter-frame Perspective-n-Point (PnP), and Generalized Iterative Closest Point (GICP). Furthermore, a novel optimization framework that tightly couples depth-to-map and GICP geometric constraints is first introduced to improve the robustness and accuracy in long-duration, visually texture-less environments. The proposed algorithms achieve state-of-the-art (SOTA) on collected legged robots and open-source datasets. To further promote research and development, the open-source datasets and code will be made publicly available at https://github.com/HorizonRobotics/GeoFlowSlam

Liu Liu, Xiaofeng Wang, Guosheng Zhao et al.

Imitation Learning has become a fundamental approach in robotic manipulation. However, collecting large-scale real-world robot demonstrations is prohibitively expensive. Simulators offer a cost-effective alternative, but the sim-to-real gap make it extremely challenging to scale. Therefore, we introduce RoboTransfer, a diffusion-based video generation framework for robotic data synthesis. Unlike previous methods, RoboTransfer integrates multi-view geometry with explicit control over scene components, such as background and object attributes. By incorporating cross-view feature interactions and global depth/normal conditions, RoboTransfer ensures geometry consistency across views. This framework allows fine-grained control, including background edits and object swaps. Experiments demonstrate that RoboTransfer is capable of generating multi-view videos with enhanced geometric consistency and visual fidelity. In addition, policies trained on the data generated by RoboTransfer achieve a 33.3% relative improvement in the success rate in the DIFF-OBJ setting and a substantial 251% relative improvement in the more challenging DIFF-ALL scenario. Explore more demos on our project page: https://horizonrobotics.github.io/robot_lab/robotransfer

Jiaxiong Qiu, Liu Liu, Xinjie Wang et al.

Recently, 3D Gaussian Splatting (3DGS) has achieved impressive performance on indoor surface reconstruction and 3D open-vocabulary segmentation. This paper presents GLS, a unified framework of 3D surface reconstruction and open-vocabulary segmentation based on 3DGS. GLS extends two fields by improving their sharpness and smoothness. For indoor surface reconstruction, we introduce surface normal prior as a geometric cue to guide the rendered normal, and use the normal error to optimize the rendered depth. For 3D open-vocabulary segmentation, we employ 2D CLIP features to guide instance features and enhance the surface smoothness, then utilize DEVA masks to maintain their view consistency. Extensive experiments demonstrate the effectiveness of jointly optimizing surface reconstruction and 3D open-vocabulary segmentation, where GLS surpasses state-of-the-art approaches of each task on MuSHRoom, ScanNet++ and LERF-OVS datasets. Project webpage: https://jiaxiongq.github.io/GLS_ProjectPage.

Liu Liu, Xinjie Wang, Jiaxiong Qiu et al.

3D scene reconstruction is a foundational problem in computer vision. Despite recent advancements in Neural Implicit Representations (NIR), existing methods often lack editability and compositional flexibility, limiting their use in scenarios requiring high interactivity and object-level manipulation. In this paper, we introduce the Gaussian Object Carver (GOC), a novel, efficient, and scalable framework for object-compositional 3D scene reconstruction. GOC leverages 3D Gaussian Splatting (GS), enriched with monocular geometry priors and multi-view geometry regularization, to achieve high-quality and flexible reconstruction. Furthermore, we propose a zero-shot Object Surface Completion (OSC) model, which uses 3D priors from 3d object data to reconstruct unobserved surfaces, ensuring object completeness even in occluded areas. Experimental results demonstrate that GOC improves reconstruction efficiency and geometric fidelity. It holds promise for advancing the practical application of digital twins in embodied AI, AR/VR, and interactive simulation environments.

Ze-Xin Yin, Peng-Yi Jiao, Jiaxiong Qiu et al.

Existing Neural Radiance Fields (NeRF) methods suffer from the existence of reflective objects, often resulting in blurry or distorted rendering. Instead of calculating a single radiance field, we propose a multi-space neural radiance field (MS-NeRF) that represents the scene using a group of feature fields in parallel sub-spaces, which leads to a better understanding of the neural network toward the existence of reflective and refractive objects. Our multi-space scheme works as an enhancement to existing NeRF methods, with only small computational overheads needed for training and inferring the extra-space outputs. We design different multi-space modules for representative MLP-based and grid-based NeRF methods, which improve Mip-NeRF 360 by 4.15 dB in PSNR with 0.5% extra parameters and further improve TensoRF by 2.71 dB with 0.046% extra parameters on reflective regions without degrading the rendering quality on other regions. We further construct a novel dataset consisting of 33 synthetic scenes and 7 real captured scenes with complex reflection and refraction, where we design complex camera paths to fully benchmark the robustness of NeRF-based methods. Extensive experiments show that our approach significantly outperforms the existing single-space NeRF methods for rendering high-quality scenes concerned with complex light paths through mirror-like objects. The source code, dataset, and results are available via our project page: https://zx-yin.github.io/msnerf/.

Jiaxiong Qiu, Cai Chen, Shuaicheng Liu et al.

The channel redundancy in feature maps of convolutional neural networks (CNNs) results in the large consumption of memories and computational resources. In this work, we design a novel Slim Convolution (SlimConv) module to boost the performance of CNNs by reducing channel redundancies. Our SlimConv consists of three main steps: Reconstruct, Transform and Fuse, through which the features are splitted and reorganized in a more efficient way, such that the learned weights can be compressed effectively. In particular, the core of our model is a weight flipping operation which can largely improve the feature diversities, contributing to the performance crucially. Our SlimConv is a plug-and-play architectural unit which can be used to replace convolutional layers in CNNs directly. We validate the effectiveness of SlimConv by conducting comprehensive experiments on ImageNet, MS COCO2014, Pascal VOC2012 segmentation, and Pascal VOC2007 detection datasets. The experiments show that SlimConv-equipped models can achieve better performances consistently, less consumption of memory and computation resources than non-equipped conterparts. For example, the ResNet-101 fitted with SlimConv achieves 77.84% top-1 classification accuracy with 4.87 GFLOPs and 27.96M parameters on ImageNet, which shows almost 0.5% better performance with about 3 GFLOPs and 38% parameters reduced.

Jiaxiong Qiu, Xinyuan Yu, Guoqiang Yang et al.

Outdoor vision robotic systems and autonomous cars suffer from many image-quality issues, particularly haze, defocus blur, and motion blur, which we will define generically as "blindness issues". These blindness issues may seriously affect the performance of robotic systems and could lead to unsafe decisions being made. However, existing solutions either focus on one type of blindness only or lack the ability to estimate the degree of blindness accurately. Besides, heavy computation is needed so that these solutions cannot run in real-time on practical systems. In this paper, we provide a method which could simultaneously detect the type of blindness and provide a blindness map indicating to what degree the vision is limited on a pixel-by-pixel basis. Both the blindness type and the estimate of per-pixel blindness are essential for tasks like deblur, dehaze, or the fail-safe functioning of robotic systems. We demonstrate the effectiveness of our approach on the KITTI and CUHK datasets where experiments show that our method outperforms other state-of-the-art approaches, achieving speeds of about 130 frames per second (fps).

Jiaxiong Qiu, Zhaopeng Cui, Yinda Zhang et al.

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as the intermediate representation to produce dense depth, and can be trained end-to-end. With a modified encoder-decoder structure, our network effectively fuses the dense color image and the sparse LiDAR depth. To address outdoor specific challenges, our network predicts a confidence mask to handle mixed LiDAR signals near foreground boundaries due to occlusion, and combines estimates from the color image and surface normals with learned attention maps to improve the depth accuracy especially for distant areas. Extensive experiments demonstrate that our model improves upon the state-of-the-art performance on KITTI depth completion benchmark. Ablation study shows the positive impact of each model components to the final performance, and comprehensive analysis shows that our model generalizes well to the input with higher sparsity or from indoor scenes.