ICCV 2025 Papers

This work presents a novel framework for Visual Localization (VL), that is, regressing camera rays from query images to derive camera poses. As an overparameterized representation of the camera pose, camera rays possess superior robustness in optimization.Of particular importance, Camera Ray Regression (CRR) is privacy-preserving, rendering it a viable VL approach for real-world applications. Thus, we introduce DINO-based Multi-Mappers, coined DIMM, to achieve VL by CRR.DIMM utilizes DINO as a scene-agnostic encoder to obtain powerful features from images. To mitigate ambiguity, the features integrate both local and global perception, as well as potential geometric constraint. Then, a scene-specific mapper head regresses camera rays from these features. It incorporates a semantic attention module for soft fusion of multiple mappers, utilizing the rich semantic information in DINO features. In extensive experiments on both indoor and outdoor datasets, our methods showcase impressive performance, revealing a promising direction for advancements in VL.

Semantic watermarking techniques for latent diffusion models (LDMs) are robust against regeneration attacks, but often suffer from detection performance degradation due to the loss of frequency integrity. To tackle this problem, we propose a novel embedding method called Hermitian Symmetric Fourier Watermarking (SFW), which maintains frequency integrity by enforcing Hermitian symmetry. Additionally, we introduce a center-aware embedding strategy that reduces the vulnerability of semantic watermarking due to cropping attacks by ensuring robust information retention. To validate our approach, we apply these techniques to existing semantic watermarking schemes, enhancing their frequency-domain structures for better robustness and retrieval accuracy. Extensive experiments demonstrate that our methods achieve state-of-the-art verification and identification performance, surpassing previous approaches across various attack scenarios. Ablation studies confirm the impact of SFW on detection capabilities, the effectiveness of the center-aware embedding against cropping, and how message capacity influences identification accuracy. Notably, our method achieves the highest detection accuracy while maintaining superior image fidelity, as evidenced by FID and CLIP scores. Conclusively, our proposed SFW is shown to be an effective framework for balancing robustness and image fidelity, addressing the inherent trade-offs in semantic watermarking. Code available at github.com/thomas11809/SFWMark.

The Vision Transformer (ViT) has gained prominence for its superior relational modeling prowess. However, its global attention mechanism's quadratic complexity poses substantial computational burdens. A common remedy spatially groups tokens for self-attention, reducing computational requirements. Nonetheless, this strategy neglects semantic information in tokens, possibly scattering semantically-linked tokens across distinct groups, thus compromising the efficacy of self-attention intended for modeling inter-token dependencies. Motivated by these insights, we introduce a fast and balanced clustering method, named Semantic Equitable Clustering (SEC). SEC clusters tokens based on their global semantic relevance in an efficient, straightforward manner. In contrast to traditional clustering methods requiring multiple iterations, our method achieves token clustering in a single pass. Additionally, SEC regulates the number of tokens per cluster, ensuring a balanced distribution for effective parallel processing on current computational platforms without necessitating further optimization. Capitalizing on SEC, we propose a versatile vision backbone, SECViT. Comprehensive experiments in image classification, object detection, instance segmentation, and semantic segmentation validate to the effectiveness of SECViT. Remarkably, SECViT attains an impressive 84.3% image classification accuracy with only 27M parameters and 4.6G FLOPs, without the need for for additional supervision or data. Moreover, SEC can be conveniently and swiftly applied to multimodal large language models (MLLM), such as LLaVA, to serve as a vision language connector, effectively accelerating the model's efficiency while maintaining unchanged or better performance.

Vision-based 3D semantic occupancy prediction is a critical task in 3D vision that integrates volumetric 3D reconstruction with semantic understanding. Existing methods, however, often rely on modular pipelines. These modules are typically optimized independently or use pre-configured inputs, leading to cascading errors. In this paper, we address this limitation by designing a novel causal loss that enables holistic, end-to-end supervision of the modular 2D-to-3D transformation pipeline. Grounded in the principle of 2D-to-3D semantic causality, this loss regulates the gradient flow from 3D voxel representations back to the 2D features. Consequently, it renders the entire pipeline differentiable, unifying the learning process and making previously non-trainable components fully learnable. Building on this principle, we propose the Semantic Causality-Aware 2D-to-3D Transformation, which comprises three components guided by our causal loss: Channel-Grouped Lifting for adaptive semantic mapping, Learnable Camera Offsets for enhanced robustness against camera perturbations, and Normalized Convolution for effective feature propagation. Extensive experiments demonstrate that our method achieves state-of-the-art performance on the Occ3D benchmark, demonstrating significant robustness to camera perturbations and improved 2D-to-3D semantic consistency.

Data-free quantization (DFQ) enables model quantization without accessing real data, addressing concerns regarding data security and privacy. With the growing adoption of Vision Transformers (ViTs), DFQ for ViTs has garnered significant attention. However, existing DFQ methods exhibit two limitations: (1) semantic distortion, where the semantics of synthetic images deviate substantially from those of real images, and (2) semantic inadequacy, where synthetic images contain extensive regions with limited content and oversimplified textures, leading to suboptimal quantization performance. To address these limitations, we propose SARDFQ, a novel Semantics Alignment and Reinforcement Data-Free Quantization method for ViTs. To address semantic distortion, SARDFQ incorporates Attention Priors Alignment (APA), which optimizes synthetic images to follow randomly generated structure attention priors. To mitigate semantic inadequacy, SARDFQ introduces Multi-Semantic Reinforcement (MSR), leveraging localized patch optimization to enhance semantic richness across synthetic images. Furthermore, SARDFQ employs Soft-Label Learning (SL), wherein multiple semantic targets are adapted to facilitate the learning of multi-semantic images augmented by MSR. Extensive experiments demonstrate the effectiveness of SARDFQ, significantly surpassing existing methods. For example, SARDFQ improves top-1 accuracy on ImageNet by 15.52% for W4A4 ViT-B

A good co-speech motion generation cannot be achieved without a careful integration of common rhythmic motion and rare yet essential semantic motion. In this work, we propose SemTalk for holistic co-speech motion generation with frame-level semantic emphasis. Our key insight is to separately learn base motions and sparse motions, and then adaptively fuse them. In particular, coarse2fine cross-attention module and rhythmic consistency learning are explored to establish rhythm-related base motion, ensuring a coherent foundation that synchronizes gestures with the speech rhythm. Subsequently, semantic emphasis learning is designed to generate semantic-aware sparse motion, focusing on frame-level semantic cues. Finally, to integrate sparse motion into the base motion and generate semantic-emphasized co-speech gestures, we further leverage a learned semantic score for adaptive synthesis. Qualitative and quantitative comparisons on two public datasets demonstrate that our method outperforms the state-of-the-art, delivering high-quality co-speech motion with enhanced semantic richness over a stable base motion.

Creating a virtual avatar with semantically coherent gestures that are aligned with speech is a challenging task. Existing gesture generation research mainly focused on generating rhythmic beat gestures, neglecting the semantic context of the gestures. In this paper, we propose a novel approach for semantic grounding in co-speech gesture generation that integrates semantic information at both fine-grained and global levels. Our approach starts with learning the motion prior through a vector-quantized variational autoencoder. Built on this model, a second-stage module is applied to automatically generate gestures from speech, text-based semantics and speaker identity that ensures consistency between the semantic relevance of generated gestures and co-occurring speech semantics through semantic coherence and relevance modules. Experimental results demonstrate that our approach enhances the realism and coherence of semantic gestures. Extensive experiments and user studies show that our method outperforms state-of-the-art approaches across two benchmarks in co-speech gesture generation in both objective and subjective metrics. The qualitative results of our model can be viewed at https://semgesture.github.io. Our code, dataset and pre-trained models will be shared upon acceptance.

Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D environments by decomposing them into meaningful structural parts, rather than low-level elements like points or voxels. Structured geometric decomposition enhances scene interpretability and facilitates downstream tasks requiring component-level manipulation. In this work, we introduce PartGS, a self-supervised part-aware reconstruction framework that integrates 2D Gaussians and superquadrics to parse objects and scenes into an interpretable decomposition, leveraging multi-view image inputs to uncover 3D structural information. Our method jointly optimizes superquadric meshes and Gaussians by coupling their parameters within a hybrid representation. On one hand, superquadrics enable the representation of a wide range of shape primitives, facilitating flexible and meaningful decompositions. On the other hand, 2D Gaussians capture detailed texture and geometric details, ensuring high-fidelity appearance and geometry reconstruction. Operating in a self-supervised manner, our approach demonstrates superior performance compared to state-of-the-art methods across extensive experiments on the DTU, ShapeNet, and real-world datasets.

Outside of urban hubs, autonomous cars and trucks have to master driving on intercity highways. Safe, long-distance highway travel at speeds exceeding 100 km/h demands perception distances of at least 250 m, which is about five times the 50-100m typically addressed in city driving, to allow sufficient planning and braking margins. Increasing the perception ranges also allows to extend autonomy from light two-ton passenger vehicles to large-scale forty-ton trucks, which need a longer planning horizon due to their high inertia. However, most existing perception approaches focus on shorter ranges and rely on Bird's Eye View (BEV) representations, which incur quadratic increases in memory and compute costs as distance grows. To overcome this limitation, we built on top of a sparse representation and introduced an efficient 3D encoding of multi-modal and temporal features, along with a novel self-supervised pre-training scheme that enables large-scale learning from unlabeled camera-LiDAR data. Our approach extends perception distances to 250 meters and achieves an 26.6% improvement in mAP in object detection and a decrease of 30.5% in Chamfer Distance in LiDAR forecasting compared to existing methods, reaching distances up to 250 meters.

Current lifelong person re-identification (LReID) methods predominantly rely on fully labeled data streams. However, in real-world scenarios where annotation resources are limited, a vast amount of unlabeled data coexists with scarce labeled samples, leading to the Semi-Supervised LReID (Semi-LReID) problem where LReID methods suffer severe performance degradation. Existing LReID methods, even when combined with semi-supervised strategies, suffer from limited long-term adaptation performance due to struggling with the noisy knowledge occurring during unlabeled data utilization. In this paper, we pioneer the investigation of Semi-LReID, introducing a novel Self-Reinforcing PRototype Evolution with Dual-Knowledge Cooperation framework (SPRED). Our key innovation lies in establishing a self-reinforcing cycle between dynamic prototype-guided pseudo-label generation and new-old knowledge collaborative purification to enhance the utilization of unlabeled data. Specifically, learnable identity prototypes are introduced to dynamically capture the identity distributions and generate high-quality pseudo-labels. Then, the dual-knowledge cooperation scheme integrates current model specialization and historical model generalization, refining noisy pseudo-labels. Through this cyclic design, reliable pseudo-labels are progressively mined to improve current-stage learning and ensure positive knowledge propagation over long-term learning. Experiments on the established Semi-LReID benchmarks show that our SPRED achieves state-of-the-art performance. Our source code is available at https://github.com/zhoujiahuan1991/ICCV2025-SPRED

3D Gaussian Splatting (3DGS) has demonstrated remarkable effectiveness in novel view synthesis (NVS). However, 3DGS tends to overfit when trained with sparse views, limiting its generalization to novel viewpoints. In this paper, we address this overfitting issue by introducing Self-Ensembling Gaussian Splatting (SE-GS). We achieve self-ensembling by incorporating an uncertainty-aware perturbation strategy during training. A \Delta-model and a \Sigma-model are jointly trained on the available images. The \Delta-model is dynamically perturbed based on rendering uncertainty across training steps, generating diverse perturbed models with negligible computational overhead. Discrepancies between the \Sigma-model and these perturbed models are minimized throughout training, forming a robust ensemble of 3DGS models. This ensemble, represented by the \Sigma-model, is then used to generate novel-view images during inference. Experimental results on the LLFF, Mip-NeRF360, DTU, and MVImgNet datasets demonstrate that our approach enhances NVS quality under few-shot training conditions, outperforming existing state-of-the-art methods. The code is released at: https://sailor-z.github.io/projects/SEGS.html.

Large field-of-view (FOV) cameras can simplify and accelerate scene capture because they provide complete coverage with fewer views. However, existing reconstruction pipelines fail to take full advantage of large-FOV input data because they convert input views to perspective images, resulting in stretching that prevents the use of the full image. Additionally, they calibrate lenses using models that do not accurately fit real fisheye lenses in the periphery. We present a new reconstruction pipeline based on Gaussian Splatting that uses a flexible lens model and supports fields of view approaching 180 degrees. We represent lens distortion with a hybrid neural field based on an Invertible ResNet and use a cubemap to render wide-FOV images while retaining the efficiency of the Gaussian Splatting pipeline. Our system jointly optimizes lens distortion, camera intrinsics, camera poses, and scene representations using a loss measured directly against the original input pixels. We present extensive experiments on both synthetic and real-world scenes, demonstrating that our model accurately fits real-world fisheye lenses and that our end-to-end self-calibration approach provides higher-quality reconstructions than existing methods. More details and videos can be found at the project page: https://denghilbert.github.io/self-cali/.

Supervised deep learning has become the method of choice for image denoising. It involves the training of neural networks on large datasets composed of pairs of noisy and clean images. However, the necessity of training data that are specific to the targeted application constrains the widespread use of denoising networks. Recently, several approaches have been developed to overcome this difficulty by whether artificially generating realistic clean/noisy image pairs, or training exclusively on noisy images. In this paper, we show that, contrary to popular belief, denoising networks specialized in the removal of Gaussian noise can be efficiently leveraged in favor of real-world image denoising, even without additional training. For this to happen, an appropriate variance-stabilizing transform (VST) has to be applied beforehand. We propose an algorithm termed Noise2VST for the learning of such a model-free VST. Our approach requires only the input noisy image and an off-the-shelf Gaussian denoiser. We demonstrate through extensive experiments the efficiency and superiority of Noise2VST in comparison to existing methods trained in the absence of specific clean/noisy pairs.

Facilitating an entity's interaction with objects requires accurately identifying parts that afford specific actions. Weakly supervised affordance grounding (WSAG) seeks to imitate human learning from third-person demonstrations, where humans intuitively grasp functional parts without needing pixel-level annotations. To achieve this, grounding is typically learned using a shared classifier across images from different perspectives, along with distillation strategies incorporating part discovery process. However, since affordance-relevant parts are not always easily distinguishable, models primarily rely on classification, often focusing on common but unaffordable features. To address this limitation, we move beyond isolated part-level learning by introducing selective prototypical and pixel contrastive objectives that adaptively learn affordance-relevant cues at both the part and object levels, depending on the granularity of the available information. Initially, we find the action-associated objects in both egocentric (object-focused) and exocentric (third-person example) images by leveraging CLIP. Then, cross-referencing the discovered objects of complementary views, we excavate the precise part-level affordance clues in each perspective. By consistently learning to distinguish affordance-relevant regions from affordance-irrelevant background context, our approach effectively shifts activation from irrelevant areas toward meaningful affordance cues. Experimental results demonstrate the effectiveness of our method.

Recent advancements in text-to-3D generation improve the visual quality of Score Distillation Sampling (SDS) and its variants by directly connecting Consistency Distillation (CD) to score distillation.However, due to the imbalance between self-consistency and cross-consistency, these CD-based methods inherently suffer from improper conditional guidance, leading to sub-optimal generation results.To address this issue, we present SegmentDreamer, a novel framework designed to fully unleash the potential of consistency models for high-fidelity text-to-3D generation.Specifically, we reformulate SDS through the proposed Segmented Consistency Trajectory Distillation (SCTD), effectively mitigating the imbalance issues by explicitly defining the relationship between self- and cross-consistency.Moreover, SCTD partitions the Probability Flow Ordinary Differential Equation (PF-ODE) trajectory into multiple sub-trajectories and ensures consistency within each segment, which can theoretically provide a significantly tighter upper bound on distillation error.Additionally, we propose a distillation pipeline for a more swift and stable generation.Extensive experiments demonstrate that our SegmentDreamer outperforms state-of-the-art methods in visual quality, enabling high-fidelity 3D asset creation through 3D Gaussian Splatting (3DGS).