Monocular 3D Reconstruction

Latest papers 73

Jun 26, 2026cs.CV

Monocular Avatar Reconstruction via Cascaded Diffusion Priors and UV-Space Differentiable Shading

Reconstructing high-fidelity, relightable 3D avatars from a single in-the-wild image is a challenging ill-posed problem, primarily hindered by the scarcity of high-quality PBR data and the complexity of disentangling illumination from intrinsic materials. In this paper, we present a data-efficient framework that leverages the robust priors of a unified pre-trained diffusion backbone to sequentially address texture completion, delighting, and material decomposition. Unlike existing methods that rely on fragmented pipelines or extensive proprietary datasets, we utilize cascaded Low-Rank Adaptations (LoRAs) to adapt the strong generative prior of the diffusion model for each sub-task in UV space. Specifically, we first employ an Inpainting LoRA to complete missing UV textures caused by occlusion, leveraging the model's semantic understanding to generate semantically and photometrically coherent details. Subsequently, a Light-Homogenization LoRA and a novel Cross-Intrinsic Attention mechanism are introduced to remove baked-in lighting and collaboratively synthesize pixel-aligned PBR maps (Albedo, Normal, Roughness, Specular, and Displacement). To ensure physical plausibility, we impose a UV-space differentiable BRDF shading loss during the decomposition stage, forcing the generative process to adhere to the rendering equation without the artifacts typical of rasterization-based supervision. Extensive experiments demonstrate that our method, trained on fewer than 100 real 3D scans, generates comprehensive, 4K-resolution PBR assets with superior realism and generalization compared to state-of-the-art methods, and all training code and model weights will be released upon acceptance.
Jun 26, 2026cs.CV

Scene and Human in One World: Reconstruction in a Feedforward Pass

Reconstructing humans in dynamic scenes from moving monocular cameras remains challenging due to scale ambiguity, human-scene misalignment, and occlusion interference. Rather than treating human mesh recovery and scene reconstruction as separate tasks, we believe that accurate human-scene reconstruction requires the two tasks to mutually inform each other: parametric human models offer semantic structure and metric-scale priors, while scene geometry provides spatial context for human localization and alignment. Built on this insight, we introduce SHOW, a mask-promptable human mesh recovery framework that couples feed-forward 3D scene reconstruction with Human Mesh Recovery in a unified metric space. SHOW injects human semantics and scale priors from parametric human models into normalized point-map prediction, enabling metric-scale scene reconstruction from inherently scale-ambiguous monocular input. In turn, the recovered scene geometry constrains human mesh estimation, encouraging spatially consistent human placement and improved human-scene alignment. To handle complex multi-person and cluttered scenes, SHOW further incorporates a promptable masking mechanism that enables flexible target-human selection while suppressing background distractions and occlusion interference. Through joint training, the model learns both human-aware geometric features and geometry-constrained human features, producing aligned metric-scale reconstructions from monocular human-centric videos. Extensive experiments demonstrate that SHOW improves metric-scale consistency, human-scene alignment, and reconstruction accuracy under challenging camera motion, occlusion, and cluttered backgrounds.
Jun 19, 2026cs.CV

SCOPE: Scale-Consistent One-Pass Estimation of 3D Geometry

We present SCOPE (Scale-Consistent One-Pass Estimation of 3D Geometry), a novel approach for estimating 3D geometry from extended monocular video sequences, where existing methods struggle to maintain both geometric accuracy and temporal consistency across hundreds of frames. Our approach generates affine-invariant 3D point maps with shared parameters across entire sequences, enabling consistent scale-invariant representations. We introduce three key innovations: viewpoint-invariant geometry aligning multi-perspective points in a unified reference frame; appearance-invariant learning enforcing consistency across exponential timescales; and frequency-modulated positioning enabling extrapolation to sequences vastly exceeding training length. Experiments across diverse datasets demonstrate significant improvements, reducing relative point map error by 24.2% and temporal alignment error by 34.9% on ScanNet compared to state-of-the-art methods. Our approach handles challenging scenarios with complex camera trajectories and lighting variations while efficiently processing extended sequences in a single pass. Project page: https://scope3d.github.io/.
Jun 16, 2026cs.CV

Future Dynamic 3D Reconstruction: A 3D World Model with Disentangled Ego-Motion

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.
Jun 16, 2026cs.CV

MoonSplat: Monocular Online Gaussian Splatting with Sim(3) Global Optimization

Online 3D reconstruction from monocular image sequences is a challenging and ongoing research topic. 3D Gaussian Splatting (3DGS), leveraging its high-quality real-time rendering capability, empowers online 3D reconstruction to represent dense scenes with enhanced expressiveness, and thus holds great promise for a wide range of applications such as robotics and AR/VR. However, existing online 3DGS methods still suffer from some key challenges: fragile camera pose estimation due to the lack of global optimization, and low optimization efficiency in large-scale or long-sequence scenarios. To address these issues, we propose a robust and efficient online voxelized 3DGS reconstruction framework integrated with global Sim(3)\text{Sim}(3) optimization, which enables reliable camera tracking and efficient global loop closure for both camera poses and voxelized 3DGS. To accelerate the convergence of the voxelized 3DGS, we further introduce a color residual learning strategy, which not only boosts optimization speed but also enhances rendering quality. Extensive experiments on diverse indoor and outdoor datasets demonstrate that our method achieves state-of-the-art performance in both camera pose estimation accuracy and rendering quality, while retaining real-time efficiency. Additionally, we develop and deploy a real-world UAV-based active reconstruction system grounded on our proposed method, validating its robustness and generalizability for practical online 3D reconstruction tasks. Our code and data are available at https://github.com/TrickyGo/MoonSplat.
Jun 12, 2026cs.CV

MooMIns -- Monocular 3D Reconstruction and Object Pose Estimation from Multiple Instances

Simultaneous 3D reconstruction and 6D object pose estimation from a single monocular image is an inherently ill-posed problem. In industrial settings, however, multiple instances of an object are often randomly arranged in bins, implicitly providing several views of the same object within a single image. We show that this implicit multi-view geometry can be exploited to simultaneously reconstruct the object in 3D and estimate the 6D pose of each visible object instance. We present MooMIns, a new Gaussian-splatting-based approach that inverts the original Gaussian splatting formulation: instead of rendering a single scene from multiple cameras, we render multiple object instances from a single camera. Our method is initialized with SAM3 instance segmentation masks and a modified Structure from Motion (SfM) pipeline. In contrast to learned monocular depth estimation, we perform true geometry-based reconstruction from image evidence, avoiding hallucinations caused by training data priors. We evaluate MooMIns on synthetic and real bin-picking scenarios, and demonstrate accurate reconstruction of previously unseen objects as well as reliable pose estimation of individual instance
Jun 9, 2026cs.CV

ManiSplat: Manipulation Trajectory Synthesis from Monocular Video via Decoupled 3D Gaussian Splatting

Reconstructing dynamic and interactive 3D scenes from real-world observations remains a fundamental challenge in computer vision and robotics. While recent advances in 3D Gaussian Splatting have enabled high-fidelity static reconstruction, extending it to interactive environments with articulated robots and manipulable objects remains difficult due to complex contact interactions and abrupt pose changes. To address these challenges, we introduce ManiSplat, a unified framework that reconstructs controllable and decoupled Gaussian digital twins directly from monocular ego-view robotic videos. Our method introduces a Graph-Structured Disentangled Representation that separates the robot, objects, and background into independently optimizable Gaussian subfields organized within a scene graph. To ensure stability, we propose a Task-Oriented Spatio-Temporal Alignment module that leverages the inherent logic of manipulation tasks-alternating between Motion and Skill phases-to construct accurate pseudo-ground-truth trajectories. Finally, a joint photometric-geometric optimization ensures the reconstructed scenes are temporally coherent, physically consistent, and simulation-ready. Extensive experiments demonstrate that our approach reconstructs interaction-driven dynamic scenes with high fidelity and controllability, effectively supporting downstream robotic tasks and policy learning.
Jun 9, 2026cs.CV

LentiAvatar: Pseudo-Multiview Reconstruction and Subpixel Prism Rendering for Real-Time Stereoscopic Communication

Real-time stereoscopic video communication has long been a goal of immersive telepresence, yet practical systems still require specialized capture rigs or reduce remote users to a single portrait view. We present LentiAvatar, a Gaussian head-avatar system that connects monocular avatar capture with subpixel-encoded glasses-free lenticular display for real-time autostereoscopic communication. From a monocular portrait video, LentiAvatar reconstructs a controllable head avatar and optimizes it for the lateral viewing zones induced by the display. The method uses natural head turns as pseudo-multiview (PMV) supervision to constrain regions that are otherwise weakly observed in monocular training, including hair, ears, jaw contours, and neck boundaries. Reliable side frames are yaw-binned, aligned to virtual cameras, and supervised within a strict head-and-hair domain; contour-aware losses and staged regularization further suppress ghosting, alpha leakage, and depth instability while preserving lateral detail. At runtime, LentiAvatar renders 32 virtual views and encodes them into a 4K lenticular raster with calibrated subpixel-routing masks. The live-tracker prototype sustains 10.65 FPS, and a subject-specific distilled driver raises the same display pipeline to 38.49 FPS.
Jun 3, 2026cs.CV

Recovering Physically Plausible Human-Object Interactions from Monocular Videos

In this paper, we propose RePHO, a method to reconstruct physically plausible human-object interactions (HOI) from monocular videos. While existing kinematic-based approaches produce visually plausible motion, they often result in physically implausible artifacts such as interpenetration and object floating. To overcome these issues, we introduce a physics-guided reconstruction framework. We begin with a kinematic estimate and then refine it by training a policy with reinforcement learning (RL). This policy is optimized to reproduce the interaction in a physics simulator. Because kinematic estimates are typically noisy, naive RL training can fail. Therefore, we propose an adaptive sampling strategy with a dual self-updating mechanism that can identify the frames with the most informative and reliable kinematic reconstruction. Our process progressively improves reconstruction quality and yields physically consistent HOI sequences. We demonstrate our approach on two standard HOI benchmarks and achieve clear improvements in physical plausibility metrics over state-of-the-art methods. Project Page: https://dingbang777.github.io/RePHO/
Jun 1, 2026cs.CV

WebSpline: Structure-Informed Splines for Real-Time 3D Gaussians from Monocular Videos

Dynamic scene reconstruction from monocular videos remains highly challenging, as existing methods often struggle to balance global structural coherence and local fine-grained details under limited multi-view cues. To address this challenge, we propose WebSpline, a novel dynamic 3D Gaussian framework that enables structurally coherent and high-fidelity reconstruction from monocular videos with fast rendering. The core of WebSpline is the Structure-Informed Spline (SIS) representation, which models each dynamic Gaussian trajectory using a learnable cubic Hermite spline whose motion is structurally organized with an auxiliary Structural Proxy Graph (SPG). The proposed framework is optimized in two stages: (i) in the first stage, the SPG is initialized from 2D point tracks and refined with temporal rigidity regularization to establish structural coherence for moving objects across the sequence; and (ii) in the second stage, the SIS representation is initialized from the refined SPG and optimized under both spatial and structural neighborhood constraints. At inference, Gaussian motion is obtained solely by evaluating the learned SIS, enabling fast rendering. Extensive experiments on the challenging monocular dynamic scene benchmarks, iPhone and NVIDIA, demonstrate that our WebSpline achieves state-of-the-art rendering quality while rendering over 10 times faster than WorldTree, the second-best method on the iPhone dataset.
May 31, 2026cs.RO

ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo

Active scene reconstruction enables robots/UAVs to autonomously plan trajectories and reconstruct environments without costly manual data acquisition. Unlike passive methods, active reconstruction requires real-time construction of high-confidence occupancy maps for collision-free navigation. Existing approaches rely on depth sensors for occupancy map updates, increasing platform cost and weight. To advance spatial intelligence, we aim for a vision-only monocular solution. However, current monocular scene reconstruction methods operate offline and fail to deliver globally consistent dense depth at the frame rates required for robots/UAVs navigation. To bridge this gap, we introduce ActMVS, the first framework for monocular active reconstruction. Our framework integrates a view factor graph construction for informed Multi-View Stereo depth prediction, along with a global depth optimization, to enable the online generation of high-quality, globally consistent dense depth maps. This enables monocular robots/UAVs to maintain reliable occupancy maps for safe trajectory planning during reconstruction. Experiments on Replica datasets demonstrate performance competitive with RGB-D methods. Our code and data are available at https://github.com/TrickyGo/ActMVS.
May 29, 2026cs.CV

SurGe: Improved Surface Geometry in Point Maps

Recent feedforward 3D reconstruction methods predict point maps and estimate global 3D geometry remarkably well. However, their predictions still exhibit inaccurate local surface geometry, which is clearly visible qualitatively but only weakly reflected in common metrics. To make these errors more explicit in evaluation, we introduce a point map normal metric that evaluates the local surface orientation induced by neighboring 3D predictions. To reduce these errors, we propose two complementary components: a point gradient matching loss that supervises depth-normalized 3D finite differences, and a Neighborhood Attention Decoder (NAD) that progressively upsamples features and uses Neighborhood Attention for local feature mixing. Across eight zero-shot monocular geometry benchmarks, our model, SurGe, achieves the best average rank for global point map AbsRel and consistently improves local point map and point map normal evaluations.
May 28, 2026cs.CV

MonoPhysics: Estimating Geometry, Appearance, and Physical Parameters from Monocular Videos

Existing inverse physics methods recover physical parameters from multi-view videos, where geometric constraints across views resolve scale and 3D structure. In monocular settings, however, such constraints are absent, leading to severe scale ambiguity, inaccurate geometry, and weak coupling between appearance optimization and physical simulation. To address these challenges, we propose MonoPhysics, a framework for monocular inverse physics estimation of deformable objects that jointly optimizes geometry, appearance, and physical parameters using a differentiable simulator and 3D Gaussian Splatting. Our key contribution is removing the multi-view capture requirement of existing methods, a necessary step toward handling in-the-wild video. MonoPhysics introduces three visual-physical bridges: scene re-parameterization, physics-aware geometry refinement, and a differentiable position map. We evaluate on Vid2Sim, real-world captures, and a new dataset of elastic and plasticine objects that we introduce. MonoPhysics outperforms monocular baselines in future prediction and recovers Young's modulus on Vid2Sim with accuracy comparable to a multi-view baseline. Code and data are available at https://daniel03c1.github.io/MonoPhysics/.
May 28, 2026cs.CV

Geometry-Guided Modeling of Foundation Features Enables Generalizable Object Shape Deformation Learning

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable deformation learning framework that reconstructs 3D objects by explicitly deforming a category-level shape template to match the target observation. To address complex shape variations between the template and the target, we introduce a geometry-guided feature modeling mechanism. This process first enriches foundation features with template topology to yield a geometry-aware representation, which is then explicitly correlated with the target observation to guide precise deformation. Furthermore, to bridge the disparity between the fixed template and arbitrary target views, we propose a view-adaptive feature aggregation module. This module leverages multi-view template features and their corresponding camera poses to enrich the canonical template representation, ensuring robust feature alignment regardless of the target's perspective. Extensive experiments demonstrate that our approach significantly outperforms state-of-the-art methods in handling large shape variations and diverse viewpoints, exhibiting strong generalization to novel categories and effectively supporting downstream real-world dexterous robotic manipulation tasks. Project homepage: https://GODeform.github.io/
May 26, 2026cs.CV

Gaussian-Voxel Duet: A Dual-Scaffolding Hybrid Representation for Fast and Accurate Monocular Surface Reconstruction

While 3D Gaussian Splatting has achieved remarkable success in photorealistic novel view synthesis, its pursuit of fast and high-fidelity 3D reconstruction has long been constrained by a trade-off between geometric accuracy and optimization efficiency. Methods specialized in image rendering converge quickly at the cost of imperfect geometry caused by superfluous primitives overfitting training views, while methods integrating neural signed-distance field (SDF) for better geometry incur prohibitive training costs. In this paper, we attempt to strike a better trade-off by tethering scaffold-anchored Gaussians to a jointly optimized sparse voxel scaffold. This hybrid Gaussian-Voxel representation explicitly confines anchored Gaussians to a narrow band around surfaces defined by voxelized SDFs, which effectively improves representation efficiency and condenses floating Gaussians without sacrificing geometry quality. An implicit surface tethering loss further pulls individual Gaussian primitives closer to SDF-induced surfaces in a mutually regularized manner for improved reconstruction accuracy. Extensive experiments on diverse real-world indoor scenes from ScanNet++, ScanNetv2, and DeepBlending datasets demonstrate that our method achieves state-of-the-art surface reconstruction quality as well as superior novel view synthesis against leading baselines, while maintaining fast training convergence and real-time rendering. Code will be available at https://github.com/duzh11/VoxelGS.
May 22, 2026cs.CV

RiGS: Rigid-aware 4D Gaussian Splatting from a Single Monocular Video

Reconstructing dynamic 3D scenes from monocular videos is a fundamental yet highly challenging task, as real-world motions often involve both long-term smooth transformations and short-term complex deformations. Existing methods either struggle to maintain temporal consistency or fail to capture high-frequency dynamics due to limited motion modeling capacity. In this work, we present Rigid-aware 4D Gaussian Splatting (RiGS), which simultaneously captures motions across multiple temporal scales. Specifically, RiGS introduces three types of Gaussian primitives: static, rigid, and transient, which represent static backgrounds, long-term low-frequency motions, and short-term high-frequency dynamics, respectively. An object-wise dynamic mask is proposed to aggregate long-range spatiotemporal motion information and guide the decomposition of static and dynamic regions. To jointly model motion across scales, rigid Gaussians are allowed to transition into transient Gaussians based on their temporal duration, and both are optimized under scene flow guidance, providing dense 3D motion supervision. Extensive experiments demonstrate that RiGS achieves state-of-the-art performance on novel view synthesis benchmarks. Code is available at \hyperlink{https://github.com/ladvu/RiGS}{https://github.com/ladvu/RiGS}.
May 22, 2026cs.CV

Generator-Refiner-Examiner: A Tri-Module Data Augmentation Framework for 3D Human Avatar Learning from Monocular Videos

This paper addresses the challenge of reconstructing photorealistic and animatable 3D human avatars from monocular videos. While existing methods rely on combining per-subject optimization with generic human priors, they often fail to capture fine-grained details when training frames are limited. To mitigate this data scarcity, we propose TrioMan, a systematic tri-module framework for augmented 3D avatar learning. Our approach comprises three synergistic components. The Generator creates diverse unseen samples by imposing Gaussian perturbations on pose and camera. The Refiner improves the quality of generated data through one-step diffusion guided by texture and geometry cues. The Examiner selects subject-consistent samples using a dual-branch attention-based similarity evaluation. Experiments on the X-Humans and NeuMan benchmarks show that TrioMan outperforms state-of-the-art methods.
May 20, 2026cs.CV

Open-CHOIR: Open-World Contact-Aware 4D Hand-Object Interaction Reconstruction

We ask whether everyday open-world monocular videos can be turned into reusable 4D interaction primitives: articulated hand motion, object shape with 6D pose over time, and the when/where of contact. Such a capability would enable scalable mining of real interactions and, beyond reconstruction, support scene-aware synthesis and planning. However, reconstructing hand-object interaction (HOI) from challenging monocular videos remains difficult: methods often assume known objects or curated scenes, and separately estimated hands and objects easily become misaligned under clutter, occlusion, and unseen object geometries. Targeting this setting, we present Open-CHOIR, an Open-world Contact-aware HOI Reconstruction framework for a monocular camera, using contact as an explicit coupling signal between hands and objects. Open-CHOIR first initializes a coarse, contact-agnostic 4D HOI sequence from open-world visual priors. It then introduces a generative HOI spatial rectification module to predict ray-depth corrections and rectify hand-object relative placement, then derive initial per-frame contact correspondences on the rectified geometry. Last, a contact-aware joint optimization with dynamically updated contact constraints enforces geometric, temporal, and contact consistency. Experiments on controlled and challenging videos show that Open-CHOIR improves object reconstruction, physical plausibility, and temporal consistency over state-of-the-art methods. Code, data, and pretrained weights are available at https://github.com/hxwork/CHOIR.
May 18, 2026cs.CV

Articulation in Prime: Primitive-Based Articulated Object Understanding from a Single Casual Video

Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but are frequently brittle under severe occlusions, rapid camera ego-motion, or weak local features. Learning-based methods, meanwhile, struggle to generalize beyond their training categories. We propose a category-agnostic optimization framework that treats articulated object understanding as a primitive-fitting problem. Geometric primitives serve as a proxy representation that avoids the pitfalls of unstable point tracks; a novel mechanism organizes them into coherent parts constrained by revolute and prismatic joints. Our formulation jointly optimizes part segmentation and joint parameters, recovering complex kinematics from a single casually captured video. A visibility-aware procedure handles partial observations and occlusions inherent to real-world data. We also propose the AiP-synth and AiP-real benchmarks, featuring significant camera motion and heavy occlusions, and outperform existing methods. Project page: https://aartykov.github.io/Articulation-in-Prime/
May 18, 2026cs.CV

NeRF-based Spacecraft Reconstruction from Monocular Imagery Under Illumination Variability and Pose Uncertainty

Autonomous rendezvous and proximity operations around uncooperative, unknown spacecraft are critical for active debris removal and on-orbit servicing missions. A key component of such operations is the offline reconstruction of a 3D model of the target from a set of 2D images. This task is challenging due to two main factors. First, in-orbit illumination conditions exhibit considerable variability, and change rapidly over time. Second, the inaccuracy of pose information in the images, results in 3D reconstruction uncertainty. To overcome these challenges, we propose to extend Neural Radiance Fields with per-image degrees of freedom: a learnable appearance embedding that captures the illumination conditions specific to each image, and an image-specific pose correction term that refines its noisy pose label to increase 3D consistency across images. These parameters add minimal complexity, as they are learned jointly with the NeRF, yet they substantially improve robustness to illumination variability and pose inaccuracies. We validate our approach on three image sets representative of in-orbit operations, demonstrating its effectiveness for offline reconstruction and highlighting its suitability for online reconstruction, an open problem in the field.
May 17, 2026cs.CV

GeoHand: Unlocking Prior Geometry Knowledge for Monocular 3D Hand Reconstruction

Monocular 3D hand reconstruction is intrinsically a geometric problem, yet RGB appearance features alone often struggle to resolve severe ambiguities caused by self-occlusions and hand-object interactions. While introducing depth can explicitly provide spatial cues, raw sensor-captured depth maps are extensively noisy and incomplete, limiting their usefulness for fine-grained hand reconstruction. To bridge this gap, we propose GeoHand, a novel framework that unlocks high-quality geometric priors from a frozen foundational monocular geometry estimator (MoGe2). Recognizing that these priors are oriented toward general scenes, we introduce a map-level GeoAdapter to recalibrate the spatial features, specifically adapting them for detailed hand reconstruction. Furthermore, to systematically integrate these adapted priors without overwhelming intrinsic RGB appearance cues, we employ a gated cross-modal token fusion strategy. Finally, to secure precise local articulation, we design a Keypoint-Queried Iterative Refiner (KQIR) that uses projected joint locations to query geometry-aware image features for spatial correction. By combining global geometric disambiguation with local refinement in a unified pipeline, GeoHand achieves state-of-the-art performance on FreiHAND, DexYCB, and HO3Dv3, especially under severe occlusions and hand-object interactions.
May 17, 2026cs.CV

LongDPM: Overlap-Aware 4D Reconstruction from Long Monocular Videos

Recovering a dynamic 3D scene from a long monocular video is crucial for dense geometry, camera motion, and temporal correspondence to remain consistent in a shared coordinate system. Existing methods face two key challenges: (1) feed-forward reconstruction models provide accurate local predictions but are limited to short clips, and (2) long-range trackers preserve correspondences without producing dense sequence-level reconstruction. This paper presents LongDPM, a novel overlap-aware framework for scalable long-range monocular dynamic reconstruction. First, LongDPM processes long videos in overlapping chunks, keeping inference memory bounded by the chunk length. Second, it connects chunk-local coordinate systems through confidence-weighted registration with static-aware overlap abstraction. Third, it associates dynamic identities across chunk boundaries and fuses matched trajectories to recover coherent long-range 3D motion. Experimental results demonstrate that LongDPM achieves superior long-range reconstruction and tracking performance, reducing dense tracking EPE over V-DPM on PointOdyssey, Kubric-F, and Kubric-G, while obtaining the best TUM-dynamics ATE for camera pose estimation.
May 16, 2026cs.CV

RHINO: Reconstructing Human Interactions with Novel Objects from Monocular Videos

Reconstructing people, objects, and their interactions in 3D is a long-standing goal for intelligent systems. Often the input is RGB video from a moving camera, making the task ill-posed; depth is ambiguous, humans and objects occlude each other, and camera and object motion entangle to create apparent motion. Most prior work addresses humans or objects in isolation, ignoring their interplay, or assumes known 3D shapes or cameras, which is impractical for real-world applications. We develop RHINO (Reconstructing Human Interactions with Novel Objects), a three-step framework that recovers in 3D a human, novel (unseen) manipulated object, and static scene in a common world frame from a monocular RGB video. First, we leverage 3D-aware foundation models to obtain cues that stabilize Structure-from-Motion (SfM) even for low-texture regions; this yields a coarse shape and apparent motion of a manipulated object from foreground pixels, and a coarse scene shape and camera motion from background pixels. Second, we estimate a human in the camera frame via an off-the-shelf method, and subtract the camera motion from apparent motion to extract the object motion; this registers the human, object, and coarse scene shapes into a common world frame. Third, we refine shapes using a compositional neural field with per-component signed-distance fields. The latter further enables differentiable contact priors that attract surfaces while penalizing interpenetration, improving the physical plausibility of the final reconstruction. For evaluation, we capture a new dataset of handheld monocular videos synchronized with a volumetric 4D capture stage, providing ground-truth shape and camera motion. RHINO outperforms state-of-the-art baselines on novel-view synthesis and 4D reconstruction. Ablations show that each stage contributes substantially. Code and data are available at https://lxxue.github.io/RHINO.
May 15, 2026cs.CV

GHOST: Geometry-Hierarchical Online Streaming Token Eviction for Efficient 3D Reconstruction

Streaming 3D reconstruction from long monocular video sequences requires maintaining a key-value (KV) cache that grows linearly with sequence length, creating a severe memory bottleneck. Existing approaches either truncate the cache to a fixed set of anchor frames, leading to reconstruction quality degradation, or rely on attention-score heuristics that are agnostic to 3D scene structure, failing to preserve geometrically valuable tokens. To address these problems, we present GHOST (Geometry-Hierarchical Online Streaming Token Eviction), a training-free KV cache management framework that exploits the model's own 3D geometry outputs to evict redundant tokens online. GHOST introduces three mutually reinforcing innovations: a hierarchical dual-level importance scoring scheme, a privilege mechanism that protects special tokens from eviction, and a cosine-similarity-guided layer-wise budget allocation. Experiments on various benchmarks show that GHOST preserves excellent reconstruction quality while cutting the KV cache by nearly half and delivering 1.75x faster inference compared to state-of-the-art methods. Our code is available at https://github.com/lokiniuniu/GHOST.
May 14, 2026cs.CV

Real2Sim in HOI: Toward Physically Plausible HOI Reconstruction from Monocular Videos

Recovering 4D human-object interaction (HOI) from monocular video is a key step toward scalable 3D content creation, embodied AI, and simulation-based learning. Recent methods can reconstruct temporally coherent human and object trajectories, but these trajectories often remain visual artifacts while failing to preserve stable contact, functional manipulation, or physical plausibility when used as reference motions for humanoid-object simulation. This reveals a fundamental interaction gap: HOI reconstruction should not stop at tracking a human and an object, but should recover the relation that makes their motion a coherent interaction. We introduce HA-HOI\textbf{HA-HOI}, a framework for reconstructing physically plausible 4D HOI animation from in-the-wild monocular videos. Instead of treating the human and object as independent entities in an ambiguous monocular 3D space, we propose a human-first, object-follow\textit{human-first, object-follow} formulation. The human motion is recovered as the interaction anchor, and the object is reconstructed, aligned, and refined relative to the human action. The resulting kinematic trajectory is then projected into a physics-based humanoid-object simulation, where it acts as a teacher trajectory for stable physical rollout. Across benchmark and in-the-wild videos, HA-HOI\textbf{HA-HOI} improves human-object alignment, contact consistency, temporal stability, and simulation readiness over prior monocular HOI reconstruction methods. By moving beyond visually plausible trajectory recovery toward physically grounded interaction animation, our work takes a step toward turning general monocular HOI videos into scalable demonstrations for humanoid-object behavior. Project page: https://knoxzhao.github.io/real2sim_in_HOI/
May 13, 2026cs.RO

LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction

Scene graphs are becoming a standard representation for robot navigation, providing hierarchical geometric and semantic scene understanding. However, most scene graph mapping methods rely on depth cameras or LiDAR sensors. In this work, we present LEXI-SG, the first dense monocular visual mapping system for open-vocabulary 3D scene graphs using only RGB camera input. Our approach exploits the semantic priors of open-vocabulary foundation models to partition the scene into rooms, deferring feed-forward reconstruction to when each room is fully observed -- enabling scalable dense mapping without sliding-window scale inconsistencies. We propose a room-based factor graph formulation to globally align room reconstructions while preserving local map consistency and naturally imposing the semantic scene graph hierarchy. Within each room, we further support open-vocabulary object segmentation and tracking. We validate LEXI-SG on indoor scenes from the Habitat-Matterport 3D and self-collected egocentric office sequences. We evaluate its performance against existing feed-forward SLAM methods, as well as established scene graphs baselines. We demonstrate improved trajectory estimation and dense reconstruction, as well as, competitive performance in open-vocabulary segmentation. LEXI-SG shows that accurate, scalable, open-vocabulary 3D scene graphs can be achieved from monocular RGB alone. Our project page and office sequences are available here: https://ori-drs.github.io/lexisg-web/.
May 13, 2026cs.CV

CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy

Geometric estimation including depth estimation and scene reconstruction is a crucial technique for colonoscopy which can provide surgeons with 3D spatial perception and navigation. However, geometric ground truth in colonoscopy is difficult to obtain due to narrow and enclosed space of the colon, while there is a large feature gap between simulated data and realistic data caused by artifacts and illumination. In this paper, we present CoGE, a novel framework for online monocular geometric estimation during colonoscopy. Firstly, we propose an illumination-aware supervision module based on the Retinex theory to address illumination diversity in different colonoscopy scenes. Moreover, a structure-aware perception module is proposed based on wavelet decomposition to extract common structural and local features of the colon. Both quantitative and qualitative results demonstrate that the proposed model solely trained on simulated data achieves state-of-the-art performance in geometric estimation for both simulated and realistic scenes.
May 12, 2026cs.CV

EgoForce: Forearm-Guided Camera-Space 3D Hand Pose from a Monocular Egocentric Camera

Reconstructing the absolute 3D pose and shape of the hands from the user's viewpoint using a single head-mounted camera is crucial for practical egocentric interaction in AR/VR, telepresence, and hand-centric manipulation tasks, where sensing must remain compact and unobtrusive. While monocular RGB methods have made progress, they remain constrained by depth-scale ambiguity and struggle to generalize across the diverse optical configurations of head-mounted devices. As a result, models typically require extensive training on device-specific datasets, which are costly and laborious to acquire. This paper addresses these challenges by introducing EgoForce, a monocular 3D hand reconstruction framework that recovers robust, absolute 3D hand pose and its position from the user's (camera-space) viewpoint. EgoForce operates across fisheye, perspective, and distorted wide-FOV camera models using a single unified network. Our approach combines a differentiable forearm representation that stabilizes hand pose, a unified arm-hand transformer that predicts both hand and forearm geometry from a single egocentric view, mitigating depth-scale ambiguity, and a ray space closed-form solver that enables absolute 3D pose recovery across diverse head-mounted camera models. Experiments on three egocentric benchmarks show that EgoForce achieves state-of-the-art 3D accuracy, reducing camera-space MPJPE by up to 28% on the HOT3D dataset compared to prior methods and maintaining consistent performance across camera configurations. For more details, visit the project page at https://dfki-av.github.io/EgoForce.
May 12, 2026cs.CV

4DVGGT-D: 4D Visual Geometry Transformer with Improved Dynamic Depth Estimation

Reconstructing dynamic 4D scenes from monocular videos is a fundamental yet challenging task. While recent 3D foundation models provide strong geometric priors, their performance significantly degrades in dynamic environments. This degradation stems from a fundamental tension: the inherent coupling of camera ego-motion and object motion within global attention mechanisms. In this paper, we propose a novel, training-free progressive decoupling framework that disentangles dynamics from statics in a principled, coarse-to-fine manner. Our core insight is to resolve the tension by first stabilizing the camera pose, followed by geometric refinement. Specifically, our approach consists of three synergistic components: (1) a Dynamic-Mask-Guided Pose Decoupling module that isolates pose estimation from dynamic interference, yielding a stable motion-free reference frame; (2) a Topological Subspace Surgery mechanism that orthogonally decomposes the depth manifold, safely preserving dynamic objects while injecting refined, mask-aware geometry into static regions; and (3) an Information-Theoretic Confidence-Aware Fusion strategy that formulates depth integration as a heteroscedastic Bayesian inference problem, adaptively blending multi-pass predictions via inverse-variance weighting. Extensive experiments on standard 4D reconstruction benchmarks demonstrate that our method achieves consistent and substantial improvements across principal point-cloud metrics. Notably, our approach shows competitive performance in robust 4D scene reconstruction without requiring fine-tuning, suggesting the potential of mathematically grounded dynamic-static disentanglement.
May 9, 2026cs.CV

Kinematics-Driven Gaussian Shape Deformation for Blurry Monocular Dynamic Scenes

Reconstructing dynamic 3D scenes from blurry monocular videos is challenging as motion-induced blur entangles object motion and geometry, hindering geometric consistency. We present Kinematics-GS, a kinematics-aware framework that models blur as motion-aligned deformation and introduces a kinematic prior to reparameterize Gaussian shapes along motion trajectories, thereby mitigating degenerate shape collapse without auxiliary motion supervision. To stabilize optimization, we decompose scenes into dynamic and static components using temporal deformation variance and employ a coarse-to-fine deformation strategy to capture both global motion and fine-grained details. We also introduce a challenging real-world dataset of deformable and elastic objects exhibiting non-rigid motion with spatially non-uniform motion blur that obscures geometric cues. Extensive experiments on real-world benchmarks with realistic motion blur demonstrate that Kinematics-GS outperforms prior methods by a clear margin in monocular dynamic scene reconstruction, highlighting its effectiveness in handling complex and non-rigid motion scenarios.