Nikita Drozdov

Nikita Drozdov, Andrey Lemeshko, Nikita Gavrilov et al.

3D visual grounding (3DVG) aims to localize objects in a 3D scene based on natural language queries. In this work, we explore zero-shot 3DVG from multi-view images alone, without requiring any geometric supervision or object priors. We introduce Z3D, a universal grounding pipeline that flexibly operates on multi-view images while optionally incorporating camera poses and depth maps. We identify key bottlenecks in prior zero-shot methods causing significant performance degradation and address them with (i) a state-of-the-art zero-shot 3D instance segmentation method to generate high-quality 3D bounding box proposals and (ii) advanced reasoning via prompt-based segmentation, which utilizes full capabilities of modern VLMs. Extensive experiments on the ScanRefer and Nr3D benchmarks demonstrate that our approach achieves state-of-the-art performance among zero-shot methods. Code is available at https://github.com/col14m/z3d .

Andrey Lemeshko, Bulat Gabdullin, Nikita Drozdov et al.

3D object detection is fundamental for spatial understanding. Real-world environments demand models capable of recognizing diverse, previously unseen objects, which remains a major limitation of closed-set methods. Existing open-vocabulary 3D detectors relax annotation requirements but still depend on training scenes, either as point clouds or images. We take this a step further by introducing Zoo3D, the first training-free 3D object detection framework. Our method constructs 3D bounding boxes via graph clustering of 2D instance masks, then assigns semantic labels using a novel open-vocabulary module with best-view selection and view-consensus mask generation. Zoo3D operates in two modes: the zero-shot Zoo3D$_0$, which requires no training at all, and the self-supervised Zoo3D$_1$, which refines 3D box prediction by training a class-agnostic detector on Zoo3D$_0$-generated pseudo labels. Furthermore, we extend Zoo3D beyond point clouds to work directly with posed and even unposed images. Across ScanNet200 and ARKitScenes benchmarks, both Zoo3D$_0$ and Zoo3D$_1$ achieve state-of-the-art results in open-vocabulary 3D object detection. Remarkably, our zero-shot Zoo3D$_0$ outperforms all existing self-supervised methods, hence demonstrating the power and adaptability of training-free, off-the-shelf approaches for real-world 3D understanding. Code is available at https://github.com/col14m/zoo3d .

Anton Konushin, Nikita Drozdov, Bulat Gabdullin et al.

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically rely on point cloud input, which poses a major limitation since most consumer cameras lack depth sensors and visual-only data remains far more common. We address this issue with TUN3D, the first method that tackles joint layout estimation and 3D object detection in real scans, given multi-view images as input, and does not require ground-truth camera poses or depth supervision. Our approach builds on a lightweight sparse-convolutional backbone and employs two dedicated heads: one for 3D object detection and one for layout estimation, leveraging a novel and effective parametric wall representation. Extensive experiments show that TUN3D achieves state-of-the-art performance across three challenging scene understanding benchmarks: (i) using ground-truth point clouds, (ii) using posed images, and (iii) using unposed images. While performing on par with specialized 3D object detection methods, TUN3D significantly advances layout estimation, setting a new benchmark in holistic indoor scene understanding. Code is available at https://github.com/col14m/tun3d .

Nikita Drozdov, Marat Zinovev, Dmitry Sorokin

Deformable image registration (DIR) is a cornerstone of medical image analysis, enabling spatial alignment for tasks like comparative studies and multi-modal fusion. While learning-based methods (e.g., CNNs, transformers) offer fast inference, they often require large training datasets and struggle to match the precision of classical iterative approaches on some organ types and imaging modalities. Implicit neural representations (INRs) have emerged as a promising alternative, parameterizing deformations as continuous mappings from coordinates to displacement vectors. However, this comes at the cost of requiring instance-specific optimization, making computational efficiency and seed-dependent learning stability critical factors for these methods. In this work, we propose KAN-IDIR and RandKAN-IDIR, the first integration of Kolmogorov-Arnold Networks (KANs) into deformable image registration with implicit neural representations (INRs). Our proposed randomized basis sampling strategy reduces the required number of basis functions in KAN while maintaining registration quality, thereby significantly lowering computational costs. We evaluated our approach on three diverse datasets (lung CT, brain MRI, cardiac MRI) and compared it with competing instance-specific learning-based approaches, dataset-trained deep learning models, and classical registration approaches. KAN-IDIR and RandKAN-IDIR achieved the highest accuracy among INR-based methods across all evaluated modalities and anatomies, with minimal computational overhead and superior learning stability across multiple random seeds. Additionally, we discovered that our RandKAN-IDIR model with randomized basis sampling slightly outperforms the model with learnable basis function indices, while eliminating its additional training-time complexity.