Xinli Xu

Peixiang Huang, Li Liu, Renrui Zhang et al.

To achieve accurate and low-cost 3D object detection, existing methods propose to benefit camera-based multi-view detectors with spatial cues provided by the LiDAR modality, e.g., dense depth supervision and bird-eye-view (BEV) feature distillation. However, they directly conduct point-to-point mimicking from LiDAR to camera, which neglects the inner-geometry of foreground targets and suffers from the modal gap between 2D-3D features. In this paper, we propose the learning scheme of Target Inner-Geometry from the LiDAR modality into camera-based BEV detectors for both dense depth and BEV features, termed as TiG-BEV. First, we introduce an inner-depth supervision module to learn the low-level relative depth relations between different foreground pixels. This enables the camera-based detector to better understand the object-wise spatial structures. Second, we design an inner-feature BEV distillation module to imitate the high-level semantics of different keypoints within foreground targets. To further alleviate the BEV feature gap between two modalities, we adopt both inter-channel and inter-keypoint distillation for feature-similarity modeling. With our target inner-geometry distillation, TiG-BEV can effectively boost BEVDepth by +2.3% NDS and +2.4% mAP, along with BEVDet by +9.1% NDS and +10.3% mAP on nuScenes val set. Code will be available at https://github.com/ADLab3Ds/TiG-BEV.

Xinli Xu, Shaocong Dong, Lihe Ding et al.

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely relies on LiDAR point clouds for 3D proposal refinement. Though impressive, the sparsity of point clouds, especially for the points far away, making it difficult for the LiDAR-only refinement module to accurately recognize and locate objects.To address this problem, we propose a novel multi-modality two-stage approach named FusionRCNN, which effectively and efficiently fuses point clouds and camera images in the Regions of Interest(RoI). FusionRCNN adaptively integrates both sparse geometry information from LiDAR and dense texture information from camera in a unified attention mechanism. Specifically, it first utilizes RoIPooling to obtain an image set with a unified size and gets the point set by sampling raw points within proposals in the RoI extraction step; then leverages an intra-modality self-attention to enhance the domain-specific features, following by a well-designed cross-attention to fuse the information from two modalities.FusionRCNN is fundamentally plug-and-play and supports different one-stage methods with almost no architectural changes. Extensive experiments on KITTI and Waymo benchmarks demonstrate that our method significantly boosts the performances of popular detectors.Remarkably, FusionRCNN significantly improves the strong SECOND baseline by 6.14% mAP on Waymo, and outperforms competing two-stage approaches. Code will be released soon at https://github.com/xxlbigbrother/Fusion-RCNN.

Chen Min, Xinli Xu, Dawei Zhao et al.

Current perception models in autonomous driving heavily rely on large-scale labelled 3D data, which is both costly and time-consuming to annotate. This work proposes a solution to reduce the dependence on labelled 3D training data by leveraging pre-training on large-scale unlabeled outdoor LiDAR point clouds using masked autoencoders (MAE). While existing masked point autoencoding methods mainly focus on small-scale indoor point clouds or pillar-based large-scale outdoor LiDAR data, our approach introduces a new self-supervised masked occupancy pre-training method called Occupancy-MAE, specifically designed for voxel-based large-scale outdoor LiDAR point clouds. Occupancy-MAE takes advantage of the gradually sparse voxel occupancy structure of outdoor LiDAR point clouds and incorporates a range-aware random masking strategy and a pretext task of occupancy prediction. By randomly masking voxels based on their distance to the LiDAR and predicting the masked occupancy structure of the entire 3D surrounding scene, Occupancy-MAE encourages the extraction of high-level semantic information to reconstruct the masked voxel using only a small number of visible voxels. Extensive experiments demonstrate the effectiveness of Occupancy-MAE across several downstream tasks. For 3D object detection, Occupancy-MAE reduces the labelled data required for car detection on the KITTI dataset by half and improves small object detection by approximately 2% in AP on the Waymo dataset. For 3D semantic segmentation, Occupancy-MAE outperforms training from scratch by around 2% in mIoU. For multi-object tracking, Occupancy-MAE enhances training from scratch by approximately 1% in terms of AMOTA and AMOTP. Codes are publicly available at https://github.com/chaytonmin/Occupancy-MAE.

Zhiqiang Yang, Qiu Guan, Keer Zhao et al.

Due to the effective performance of multi-scale feature fusion, Path Aggregation FPN (PAFPN) is widely employed in YOLO detectors. However, it cannot efficiently and adaptively integrate high-level semantic information with low-level spatial information simultaneously. We propose a new model named MAF-YOLO in this paper, which is a novel object detection framework with a versatile neck named Multi-Branch Auxiliary FPN (MAFPN). Within MAFPN, the Superficial Assisted Fusion (SAF) module is designed to combine the output of the backbone with the neck, preserving an optimal level of shallow information to facilitate subsequent learning. Meanwhile, the Advanced Assisted Fusion (AAF) module deeply embedded within the neck conveys a more diverse range of gradient information to the output layer. Furthermore, our proposed Re-parameterized Heterogeneous Efficient Layer Aggregation Network (RepHELAN) module ensures that both the overall model architecture and convolutional design embrace the utilization of heterogeneous large convolution kernels. Therefore, this guarantees the preservation of information related to small targets while simultaneously achieving the multi-scale receptive field. Finally, taking the nano version of MAF-YOLO for example, it can achieve 42.4% AP on COCO with only 3.76M learnable parameters and 10.51G FLOPs, and approximately outperforms YOLOv8n by about 5.1%. The source code of this work is available at: https://github.com/yang-0201/MAF-YOLO.

Jie Wang, Lihe Ding, Tingfa Xu et al.

Robust 3D perception under corruption has become an essential task for the realm of 3D vision. While current data augmentation techniques usually perform random transformations on all point cloud objects in an offline way and ignore the structure of the samples, resulting in over-or-under enhancement. In this work, we propose an alternative to make sample-adaptive transformations based on the structure of the sample to cope with potential corruption via an auto-augmentation framework, named as AdaptPoint. Specially, we leverage a imitator, consisting of a Deformation Controller and a Mask Controller, respectively in charge of predicting deformation parameters and producing a per-point mask, based on the intrinsic structural information of the input point cloud, and then conduct corruption simulations on top. Then a discriminator is utilized to prevent the generation of excessive corruption that deviates from the original data distribution. In addition, a perception-guidance feedback mechanism is incorporated to guide the generation of samples with appropriate difficulty level. Furthermore, to address the paucity of real-world corrupted point cloud, we also introduce a new dataset ScanObjectNN-C, that exhibits greater similarity to actual data in real-world environments, especially when contrasted with preceding CAD datasets. Experiments show that our method achieves state-of-the-art results on multiple corruption benchmarks, including ModelNet-C, our ScanObjectNN-C, and ShapeNet-C.

Zhiqiang Yang, Qiu Guan, Zhongwen Yu et al.

Due to the effective multi-scale feature fusion capabilities of the Path Aggregation FPN (PAFPN), it has become a widely adopted component in YOLO-based detectors. However, PAFPN struggles to integrate high-level semantic cues with low-level spatial details, limiting its performance in real-world applications, especially with significant scale variations. In this paper, we propose MHAF-YOLO, a novel detection framework featuring a versatile neck design called the Multi-Branch Auxiliary FPN (MAFPN), which consists of two key modules: the Superficial Assisted Fusion (SAF) and Advanced Assisted Fusion (AAF). The SAF bridges the backbone and the neck by fusing shallow features, effectively transferring crucial low-level spatial information with high fidelity. Meanwhile, the AAF integrates multi-scale feature information at deeper neck layers, delivering richer gradient information to the output layer and further enhancing the model learning capacity. To complement MAFPN, we introduce the Global Heterogeneous Flexible Kernel Selection (GHFKS) mechanism and the Reparameterized Heterogeneous Multi-Scale (RepHMS) module to enhance feature fusion. RepHMS is globally integrated into the network, utilizing GHFKS to select larger convolutional kernels for various feature layers, expanding the vertical receptive field and capturing contextual information across spatial hierarchies. Locally, it optimizes convolution by processing both large and small kernels within the same layer, broadening the lateral receptive field and preserving crucial details for detecting smaller targets. The source code of this work is available at: https://github.com/yang-0201/MHAF-YOLO.

Luozhou Wang, Zhifei Chen, Yihua Du et al.

Large-scale video generation models have demonstrated emergent physical coherence, positioning them as potential world models. However, a gap remains between contemporary "stateless" video architectures and classic state-centric world model theories. This work bridges this gap by proposing a novel taxonomy centered on two pillars: State Construction and Dynamics Modeling. We categorize state construction into implicit paradigms (context management) and explicit paradigms (latent compression), while dynamics modeling is analyzed through knowledge integration and architectural reformulation. Furthermore, we advocate for a transition in evaluation from visual fidelity to functional benchmarks, testing physical persistence and causal reasoning. We conclude by identifying two critical frontiers: enhancing persistence via data-driven memory and compressed fidelity, and advancing causality through latent factor decoupling and reasoning-prior integration. By addressing these challenges, the field can evolve from generating visually plausible videos to building robust, general-purpose world simulators.

Litao Guo, Xinli Xu, Luozhou Wang et al.

With the rapid advancement of generative models, general-purpose generation has gained increasing attention as a promising approach to unify diverse tasks across modalities within a single system. Despite this progress, existing open-source frameworks often remain fragile and struggle to support complex real-world applications due to the lack of structured workflow planning and execution-level feedback. To address these limitations, we present ComfyMind, a collaborative AI system designed to enable robust and scalable general-purpose generation, built on the ComfyUI platform. ComfyMind introduces two core innovations: Semantic Workflow Interface (SWI) that abstracts low-level node graphs into callable functional modules described in natural language, enabling high-level composition and reducing structural errors; Search Tree Planning mechanism with localized feedback execution, which models generation as a hierarchical decision process and allows adaptive correction at each stage. Together, these components improve the stability and flexibility of complex generative workflows. We evaluate ComfyMind on three public benchmarks: ComfyBench, GenEval, and Reason-Edit, which span generation, editing, and reasoning tasks. Results show that ComfyMind consistently outperforms existing open-source baselines and achieves performance comparable to GPT-Image-1. ComfyMind paves a promising path for the development of open-source general-purpose generative AI systems. Project page: https://github.com/LitaoGuo/ComfyMind

Hao Lu, Jiaqi Tang, Xinli Xu et al.

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera parameters and urban landscapes, paving the way for the MC3D-Det foundation model. However, the multi-view fusion stage of the MC3D-Det method relies on the ill-posed monocular perception during training rather than surround refinement ability, leading to what we term "surround refinement degradation". To this end, our study presents a weak-to-strong eliciting framework aimed at enhancing surround refinement while maintaining robust monocular perception. Specifically, our framework employs weakly tuned experts trained on distinct subsets, and each is inherently biased toward specific camera configurations and scenarios. These biased experts can learn the perception of monocular degeneration, which can help the multi-view fusion stage to enhance surround refinement abilities. Moreover, a composite distillation strategy is proposed to integrate the universal knowledge of 2D foundation models and task-specific information. Finally, for MC3D-Det joint training, the elaborate dataset merge strategy is designed to solve the problem of inconsistent camera numbers and camera parameters. We set up a multiple dataset joint training benchmark for MC3D-Det and adequately evaluated existing methods. Further, we demonstrate the proposed framework brings a generalized and significant boost over multiple baselines. Our code is at \url{https://github.com/EnVision-Research/Scale-BEV}.

Jinsong Zhou, Yihua Du, Xinli Xu et al.

Maintaining consistent characters, props, and environments across multiple shots is a central challenge in narrative video generation. Existing models can produce high-quality short clips but often fail to preserve entity identity and appearance when scenes change or when entities reappear after long temporal gaps. We present VideoMemory, an entity-centric framework that integrates narrative planning with visual generation through a Dynamic Memory Bank. Given a structured script, a multi-agent system decomposes the narrative into shots, retrieves entity representations from memory, and synthesizes keyframes and videos conditioned on these retrieved states. The Dynamic Memory Bank stores explicit visual and semantic descriptors for characters, props, and backgrounds, and is updated after each shot to reflect story-driven changes while preserving identity. This retrieval-update mechanism enables consistent portrayal of entities across distant shots and supports coherent long-form generation. To evaluate this setting, we construct a 54-case multi-shot consistency benchmark covering character-, prop-, and background-persistent scenarios. Extensive experiments show that VideoMemory achieves strong entity-level coherence and high perceptual quality across diverse narrative sequences.

Yitong Yang, Xinli Xu, Haigen Hu et al.

Despite the recent progress in medical image segmentation with scribble-based annotations, the segmentation results of most models are still not ro-bust and generalizable enough in open environments. Evidential deep learn-ing (EDL) has recently been proposed as a promising solution to model predictive uncertainty and improve the reliability of medical image segmen-tation. However directly applying EDL to scribble-supervised medical im-age segmentation faces a tradeoff between accuracy and reliability. To ad-dress the challenge, we propose a novel framework called Dual-Branch Evi-dential Deep Learning (DuEDL). Firstly, the decoder of the segmentation network is changed to two different branches, and the evidence of the two branches is fused to generate high-quality pseudo-labels. Then the frame-work applies partial evidence loss and two-branch consistent loss for joint training of the model to adapt to the scribble supervision learning. The pro-posed method was tested on two cardiac datasets: ACDC and MSCMRseg. The results show that our method significantly enhances the reliability and generalization ability of the model without sacrificing accuracy, outper-forming state-of-the-art baselines. The code is available at https://github.com/Gardnery/DuEDL.

Chen Min, Dawei Zhao, Liang Xiao et al.

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or 3D pre-text tasks, overlooking the temporal characteristics of autonomous driving as a 4D scene understanding task. In this paper, we address this challenge by introducing a world model-based autonomous driving 4D representation learning framework, dubbed \emph{DriveWorld}, which is capable of pre-training from multi-camera driving videos in a spatio-temporal fashion. Specifically, we propose a Memory State-Space Model for spatio-temporal modelling, which consists of a Dynamic Memory Bank module for learning temporal-aware latent dynamics to predict future changes and a Static Scene Propagation module for learning spatial-aware latent statics to offer comprehensive scene contexts. We additionally introduce a Task Prompt to decouple task-aware features for various downstream tasks. The experiments demonstrate that DriveWorld delivers promising results on various autonomous driving tasks. When pre-trained with the OpenScene dataset, DriveWorld achieves a 7.5% increase in mAP for 3D object detection, a 3.0% increase in IoU for online mapping, a 5.0% increase in AMOTA for multi-object tracking, a 0.1m decrease in minADE for motion forecasting, a 3.0% increase in IoU for occupancy prediction, and a 0.34m reduction in average L2 error for planning.

Qiu Guan, Zhiqiang Yang, Dezhang Ye et al.

Accurate segmentation of the pancreas and its lesions in CT scans is crucial for the precise diagnosis and treatment of pancreatic cancer. However, it remains a highly challenging task due to several factors such as low tissue contrast with surrounding organs, blurry anatomical boundaries, irregular organ shapes, and the small size of lesions. To tackle these issues, we propose DB-MSMUNet (Dual-Branch Multi-scale Mamba UNet), a novel encoder-decoder architecture designed specifically for robust pancreatic segmentation. The encoder is constructed using a Multi-scale Mamba Module (MSMM), which combines deformable convolutions and multi-scale state space modeling to enhance both global context modeling and local deformation adaptation. The network employs a dual-decoder design: the edge decoder introduces an Edge Enhancement Path (EEP) to explicitly capture boundary cues and refine fuzzy contours, while the area decoder incorporates a Multi-layer Decoder (MLD) to preserve fine-grained details and accurately reconstruct small lesions by leveraging multi-scale deep semantic features. Furthermore, Auxiliary Deep Supervision (ADS) heads are added at multiple scales to both decoders, providing more accurate gradient feedback and further enhancing the discriminative capability of multi-scale features. We conduct extensive experiments on three datasets: the NIH Pancreas dataset, the MSD dataset, and a clinical pancreatic tumor dataset provided by collaborating hospitals. DB-MSMUNet achieves Dice Similarity Coefficients of 89.47%, 87.59%, and 89.02%, respectively, outperforming most existing state-of-the-art methods in terms of segmentation accuracy, edge preservation, and robustness across different datasets. These results demonstrate the effectiveness and generalizability of the proposed method for real-world pancreatic CT segmentation tasks.

Jiantao Lin, Xin Yang, Meixi Chen et al.

Diffusion models have achieved great success in generating 2D images. However, the quality and generalizability of 3D content generation remain limited. State-of-the-art methods often require large-scale 3D assets for training, which are challenging to collect. In this work, we introduce Kiss3DGen (Keep It Simple and Straightforward in 3D Generation), an efficient framework for generating, editing, and enhancing 3D objects by repurposing a well-trained 2D image diffusion model for 3D generation. Specifically, we fine-tune a diffusion model to generate ''3D Bundle Image'', a tiled representation composed of multi-view images and their corresponding normal maps. The normal maps are then used to reconstruct a 3D mesh, and the multi-view images provide texture mapping, resulting in a complete 3D model. This simple method effectively transforms the 3D generation problem into a 2D image generation task, maximizing the utilization of knowledge in pretrained diffusion models. Furthermore, we demonstrate that our Kiss3DGen model is compatible with various diffusion model techniques, enabling advanced features such as 3D editing, mesh and texture enhancement, etc. Through extensive experiments, we demonstrate the effectiveness of our approach, showcasing its ability to produce high-quality 3D models efficiently.

Xinli Xu, Wenhang Ge, Jiantao Lin et al.

In this work, we introduce FlexGen, a flexible framework designed to generate controllable and consistent multi-view images, conditioned on a single-view image, or a text prompt, or both. FlexGen tackles the challenges of controllable multi-view synthesis through additional conditioning on 3D-aware text annotations. We utilize the strong reasoning capabilities of GPT-4V to generate 3D-aware text annotations. By analyzing four orthogonal views of an object arranged as tiled multi-view images, GPT-4V can produce text annotations that include 3D-aware information with spatial relationship. By integrating the control signal with proposed adaptive dual-control module, our model can generate multi-view images that correspond to the specified text. FlexGen supports multiple controllable capabilities, allowing users to modify text prompts to generate reasonable and corresponding unseen parts. Additionally, users can influence attributes such as appearance and material properties, including metallic and roughness. Extensive experiments demonstrate that our approach offers enhanced multiple controllability, marking a significant advancement over existing multi-view diffusion models. This work has substantial implications for fields requiring rapid and flexible 3D content creation, including game development, animation, and virtual reality. Project page: https://xxu068.github.io/flexgen.github.io/.

Xinli Xu, Wenhang Ge, Dicong Qiu et al.

Estimating physical properties for visual data is a crucial task in computer vision, graphics, and robotics, underpinning applications such as augmented reality, physical simulation, and robotic grasping. However, this area remains under-explored due to the inherent ambiguities in physical property estimation. To address these challenges, we introduce GaussianProperty, a training-free framework that assigns physical properties of materials to 3D Gaussians. Specifically, we integrate the segmentation capability of SAM with the recognition capability of GPT-4V(ision) to formulate a global-local physical property reasoning module for 2D images. Then we project the physical properties from multi-view 2D images to 3D Gaussians using a voting strategy. We demonstrate that 3D Gaussians with physical property annotations enable applications in physics-based dynamic simulation and robotic grasping. For physics-based dynamic simulation, we leverage the Material Point Method (MPM) for realistic dynamic simulation. For robot grasping, we develop a grasping force prediction strategy that estimates a safe force range required for object grasping based on the estimated physical properties. Extensive experiments on material segmentation, physics-based dynamic simulation, and robotic grasping validate the effectiveness of our proposed method, highlighting its crucial role in understanding physical properties from visual data. Online demo, code, more cases and annotated datasets are available on \href{https://Gaussian-Property.github.io}{this https URL}.

Wenhang Ge, Jiantao Lin, Guibao Shen et al.

We propose PRM, a novel photometric stereo based large reconstruction model to reconstruct high-quality meshes with fine-grained local details. Unlike previous large reconstruction models that prepare images under fixed and simple lighting as both input and supervision, PRM renders photometric stereo images by varying materials and lighting for the purposes, which not only improves the precise local details by providing rich photometric cues but also increases the model robustness to variations in the appearance of input images. To offer enhanced flexibility of images rendering, we incorporate a real-time physically-based rendering (PBR) method and mesh rasterization for online images rendering. Moreover, in employing an explicit mesh as our 3D representation, PRM ensures the application of differentiable PBR, which supports the utilization of multiple photometric supervisions and better models the specular color for high-quality geometry optimization. Our PRM leverages photometric stereo images to achieve high-quality reconstructions with fine-grained local details, even amidst sophisticated image appearances. Extensive experiments demonstrate that PRM significantly outperforms other models.

Yehang Zhang, Xinli Xu, Xiaojie Xu et al.

Video-to-audio synthesis, which generates synchronized audio for visual content, critically enhances viewer immersion and narrative coherence in film and interactive media. However, video-to-audio dubbing for long-form content remains an unsolved challenge due to dynamic semantic shifts, temporal misalignment, and the absence of dedicated datasets. While existing methods excel in short videos, they falter in long scenarios (e.g., movies) due to fragmented synthesis and inadequate cross-scene consistency. We propose LVAS-Agent, a novel multi-agent framework that emulates professional dubbing workflows through collaborative role specialization. Our approach decomposes long-video synthesis into four steps including scene segmentation, script generation, sound design and audio synthesis. Central innovations include a discussion-correction mechanism for scene/script refinement and a generation-retrieval loop for temporal-semantic alignment. To enable systematic evaluation, we introduce LVAS-Bench, the first benchmark with 207 professionally curated long videos spanning diverse scenarios. Experiments demonstrate superior audio-visual alignment over baseline methods. Project page: https://lvas-agent.github.io

Xiaojie Xu, Xinli Xu, Sirui Chen et al.

Visual presentations are vital for effective communication. Early attempts to automate their creation using deep learning often faced issues such as poorly organized layouts, inaccurate text summarization, and a lack of image understanding, leading to mismatched visuals and text. These limitations restrict their application in formal contexts like business and scientific research. To address these challenges, we propose PreGenie, an agentic and modular framework powered by multimodal large language models (MLLMs) for generating high-quality visual presentations. PreGenie is built on the Slidev presentation framework, where slides are rendered from Markdown code. It operates in two stages: (1) Analysis and Initial Generation, which summarizes multimodal input and generates initial code, and (2) Review and Re-generation, which iteratively reviews intermediate code and rendered slides to produce final, high-quality presentations. Each stage leverages multiple MLLMs that collaborate and share information. Comprehensive experiments demonstrate that PreGenie excels in multimodal understanding, outperforming existing models in both aesthetics and content consistency, while aligning more closely with human design preferences.

Sirui Chen, Jinsong Zhou, Xinli Xu et al.

Effective presentation skills are essential in education, professional communication, and public speaking, yet learners often lack access to high-quality exemplars or personalized coaching. Existing AI tools typically provide isolated functionalities such as speech scoring or script generation without integrating reference modeling and interactive feedback into a cohesive learning experience. We introduce a dual-agent system that supports presentation practice through two complementary roles: the Ideal Presentation Agent and the Coach Agent. The Ideal Presentation Agent converts user-provided slides into model presentation videos by combining slide processing, visual-language analysis, narration script generation, personalized voice synthesis, and synchronized video assembly. The Coach Agent then evaluates user-recorded presentations against these exemplars, conducting multimodal speech analysis and delivering structured feedback in an Observation-Impact-Suggestion (OIS) format. To enhance the authenticity of the learning experience, the Coach Agent incorporates an Audience Agent, which simulates the perspective of a human listener and provides humanized feedback reflecting audience reactions and engagement. Together, these agents form a closed loop of observation, practice, and feedback. Implemented on a robust backend with multi-model integration, voice cloning, and error handling mechanisms, the system demonstrates how AI-driven agents can provide engaging, human-centered, and scalable support for presentation skill development in both educational and professional contexts.

Hao He, Yixun Liang, Luozhou Wang et al.

Recent large reconstruction models have made notable progress in generating high-quality 3D objects from single images. However, current reconstruction methods often rely on explicit camera pose estimation or fixed viewpoints, restricting their flexibility and practical applicability. We reformulate 3D reconstruction as image-to-image translation and introduce the Relative Coordinate Map (RCM), which aligns multiple unposed images to a main view without pose estimation. While RCM simplifies the process, its lack of global 3D supervision can yield noisy outputs. To address this, we propose Relative Coordinate Gaussians (RCG) as an extension to RCM, which treats each pixel's coordinates as a Gaussian center and employs differentiable rasterization for consistent geometry and pose recovery. Our LucidFusion framework handles an arbitrary number of unposed inputs, producing robust 3D reconstructions within seconds and paving the way for more flexible, pose-free 3D pipelines.