Nils Morbitzer

Stefano Gasperini, Nils Morbitzer, HyunJun Jung et al.

While state-of-the-art monocular depth estimation approaches achieve impressive results in ideal settings, they are highly unreliable under challenging illumination and weather conditions, such as at nighttime or in the presence of rain. In this paper, we uncover these safety-critical issues and tackle them with md4all: a simple and effective solution that works reliably under both adverse and ideal conditions, as well as for different types of learning supervision. We achieve this by exploiting the efficacy of existing methods under perfect settings. Therefore, we provide valid training signals independently of what is in the input. First, we generate a set of complex samples corresponding to the normal training ones. Then, we train the model by guiding its self- or full-supervision by feeding the generated samples and computing the standard losses on the corresponding original images. Doing so enables a single model to recover information across diverse conditions without modifications at inference time. Extensive experiments on two challenging public datasets, namely nuScenes and Oxford RobotCar, demonstrate the effectiveness of our techniques, outperforming prior works by a large margin in both standard and challenging conditions. Source code and data are available at: https://md4all.github.io.

Irem Zeynep Alagöz, Nils Morbitzer, Andrea Ramazzina et al.

Several disruptive research directions have recently emerged in computer vision, including foundation models achieving previously unseen zero-shot performance in scene understanding, even interactively, and generative models that synthesize extremely realistic images. The latter have also been shown to be highly effective in scene understanding tasks thanks to their rich priors. However, for promptable segmentation, foundation models struggle with accurately segmenting an object's region, leading to false positives and over-segmentation. Notably, early attempts that leverage generative priors use prompts only during post-processing, yielding suboptimal segments because the process is agnostic to the user input. In this paper, we target these limitations with Prompt2Seg, a spatial conditioning framework for diffusion-based segmentation. Prompt2Seg augments a frozen diffusion segmentation model with a conditioning branch. Our approach takes spatial prompts, represented as 2D Gaussians or confidence maps, as explicit input signals, training the model to respond directly to user intent. Fine-tuned on a deliberately constrained set of object categories drawn from Hypersim and Virtual KITTI 2, Prompt2Seg generalizes zero-shot to a wide range of unseen object types and visual domains. We evaluate on seven datasets ranging from standard benchmarks to more challenging domains, including paintings, egocentric views, and X-ray data. Furthermore, we demonstrate that Prompt2Seg consistently outperforms the underlying diffusion segmentation backbone across all benchmarks. Our results suggest that the rich priors encoded in generative pretraining, combined with principled spatial conditioning, offer a compelling path toward broadly generalizing interactive segmentation without large-scale mask supervision.

Nils Morbitzer, Jonathan Evers, Artem Savkin et al.

Forecasting the evolution of dynamic environments is crucial for autonomous agents. While generative world models have recently achieved high photorealism in 2D video synthesis by mixing ego-motion and environmental dynamics within the image plane, they exhibit physical inconsistencies, such as morphing or vanishing objects, especially over long time horizons. In this paper, we propose FR3D, a world model that predicts a persistent 3D latent representation for future dynamic 3D reconstruction. Unlike prior works that treat the world as a sequence of image-based features, FR3D explicitly decouples the 3D evolution of the scene from the agent's trajectory, treating the inferred ego-motion as a latent proxy for action. This disentanglement resolves the ambiguities between self-motion and world-motion, ensuring geometric consistency into the future. Furthermore, we introduce a teacher-student distillation strategy that leverages the spatial "common sense" of off-the-shelf foundation models, leading to robust zero-shot generalization. Extensive experiments demonstrate FR3D's strong performance for future dynamic 3D reconstruction from monocular observations across multiple datasets, even 2 seconds into the future. Project page: https://fr3d-wm.github.io.