ICCV 2025 论文列表

Glass Surface Detection (GSD) is a critical task in computer vision, enabling precise interactions with transparent surfaces and enhancing both safety and object recognition accuracy. However, current research still faces challenges in both recognition performance and generalization capability. Thanks to the recent advanced diffusion-based generative models, GSD task can benefit from rich prior knowledge encapsulated in pre-trained Stable Diffusion (SD) model. Thus, in this paper, we present GlassWizard, aiming to harvest priors in diffusion-based model to achieve accurate and generalized GSD. Firstly, we delve into the text embedding space in SD to build an text-based context prior, thereby enhancing the understanding of implicit attribute of glass and achieving fine-grained predictions. Secondly, we train an end-to-end diffusion model with a one-step formulation pipeline, yielding effective optimization and fast inference. In addition, to facilitate our adapted framework scalable to other multi-modal GSD tasks (such as RGB-D/RGB-T GSD), we present a modality-customized adaptation, that can achieve rapid adaptation to multi-modal GSD tasks. Our experimental results demonstrate that our proposed framework achieves cutting-edge performance across diverse datasets, and it also shows strong generalization ability. Additionally, it excels in multi-modal GSD tasks, confirming its scalability across different modalities.

In autoregressive (AR) image generation, visual tokenizers compress images into compact discrete latent tokens, enabling efficient training of downstream autoregressive models for visual generation via next-token prediction. While scaling visual tokenizers improves image reconstruction quality, it often degrades downstream generation quality--a challenge not adequately addressed in existing literature. To address this, we introduce GigaTok, the first approach to simultaneously improve image reconstruction, generation, and representation learning when scaling visual tokenizers. We identify the growing complexity of latent space as the key factor behind the reconstruction vs. generation dilemma. To mitigate this, we propose semantic regularization, which aligns tokenizer features with semantically consistent features from a pre-trained visual encoder. This constraint prevents excessive latent space complexity during scaling, yielding consistent improvements in both reconstruction and downstream autoregressive generation. Building on semantic regularization, we explore three key practices for scaling tokenizers: (1) using 1D tokenizers for better scalability, (2) prioritizing decoder scaling when expanding both encoder and decoder, and (3) employing entropy loss to stabilize training for billion-scale tokenizers. By scaling to 3 billion parameters, GigaTok achieves state-of-the-art performance in reconstruction, downstream AR generation, and downstream AR representation quality.

Generating full-body human gestures based on speech signals remains challenges on quality and speed. Existing approaches model different body regions such as body, legs and hands separately, which fail to capture the spatial interactions between them and result in unnatural and disjointed movements. Additionally, their autoregressive/diffusion-based pipelines show slow generation speed due to dozens of inference steps. To address these two challenges, we propose GestureLSM, a flow-matching-based approach for Co-Speech Gesture Generation with spatial-temporal modeling. Our method i) explicitly model the interaction of tokenized body regions through spatial and temporal attention, for generating coherent full-body gestures. ii) introduce the flow matching to enable more efficient sampling by explicitly modeling the latent velocity space. To overcome the suboptimal performance of flow matching baseline, we propose latent shortcut learning and beta distribution time stamp sampling during training to enhance gesture synthesis quality and accelerate inference. Combining the spatial-temporal modeling and improved flow matching-based framework, GestureLSM achieves state-of-the-art performance on BEAT2 while significantly reducing inference time compared to existing methods, highlighting its potential for enhancing digital humans and embodied agents in real-world applications.

While increasing attention has been paid to co-speech gesture synthesis, most previous works neglect to investigate hand gestures with explicit and essential semantics. In this paper, we study co-speech gesture generation with an emphasis on specific hand gesture activation, which can deliver more instructional information than common body movements. To achieve this, we first build a high-quality dataset of 3D human body movements including a set of semantically explicit hand gestures that are commonly used by live streamers. Then we present a hybrid-modality gesture generation system GestureHYDRA built upon a hybrid-modality diffusion transformer architecture with novelly designed motion-style injective transformer layers, which enables advanced gesture modeling ability and versatile gesture operations. To guarantee these specific hand gestures can be activated, we introduce a cascaded retrieval-augmented generation strategy built upon a semantic gesture repository annotated for each subject and an adaptive audio-gesture synchronization mechanism, which substantially improves semantic gesture activation and production efficiency. Quantitative and qualitative experiments demonstrate that our proposed approach achieves superior performance over all the counterparts.

Despite remarkable advancements in video depth estimation, existing methods fall short in geometric fidelity due to their affine-invariant predictions, restricting their applicability in reconstruction and other metrically grounded downstream tasks. We propose a novel point map Variational Autoencoder (VAE) for encoding and decoding unbounded point maps. Notably, its latent space is agnostic to video latent distributions of video diffusion models, allowing us to leverage generation priors to model the distribution of point map sequences conditioned on the input videos. Thus, we can recover high-fidelity point map sequences with temporal coherence from open-world videos, facilitating accurate 3D/4D reconstruction, camera parameter estimation, and other depth-based applications. Extensive evaluations on diverse datasets demonstrate that our method achieves state-of-the-art 3D accuracy, temporal consistency, and generalization capability.

Neural representations of 3D data have been widely adopted across various applications, particularly in recent work leveraging coordinate-based networks to model scalar or vector fields. However, these approaches face inherent challenges, such as handling thin structures and non-watertight geometries, which limit their flexibility and accuracy. In contrast, we propose a novel geometric data representation that models geometry as distributions-a powerful representation that makes no assumptions about surface genus, connectivity, or boundary conditions. Our approach uses diffusion models with a novel network architecture to learn surface point distributions, capturing fine-grained geometric details. We evaluate our representation qualitatively and quantitatively across various object types, demonstrating its effectiveness in achieving high geometric fidelity. Additionally, we explore applications using our representation, such as textured mesh representation, neural surface compression, dynamic object modeling, and rendering, highlighting its potential to advance 3D geometric learning.

View-Guided Point Cloud Completion (VG-PCC) aims to reconstruct complete point clouds from partial inputs by referencing single-view images. While existing VG-PCC models perform well on in-class predictions, they exhibit significant performance drops when generalizing to unseen categories. We identify two key limitations underlying this challenge: (1) Current encoders struggle to bridge the substantial modality gap between images and point clouds. Consequently, their learned representations often lack robust cross-modal alignment and over-rely on superficial class-specific patterns. (2) Current decoders refine global structures holistically, overlooking local geometric patterns that are class-agnostic and transferable across categories. To address these issues, we present a novel generalizable VG-PCC framework for unseen categories based on Geometric Alignment and Prior Modulation (GAPM). First, we introduce a Geometry Aligned Encoder that lifts reference images into 3D space via depth maps for natural alignment with the partial point clouds. This reduces dependency on class-specific RGB patterns that hinder generalization to unseen classes. Second, we propose a Prior Modulated Decoder that incorporates class-agnostic local priors to reconstruct shapes on a regional basis. This allows the adaptive reuse of learned geometric patterns that promote generalization to unseen classes. Extensive experiments validate that GAPM consistently outperforms existing models on both seen and, notably, unseen categories, establishing a new benchmark for unseen-category generalization in VG-PCC. Our code can be found in the supplementary material.

Recent 3D Gaussian Splatting (3DGS) representations have demonstrated remarkable performance in novel view synthesis; further, material-lighting disentanglement on 3DGS warrants relighting capabilities and its adaptability to broader applications. While the general approach to the latter operation lies in integrating differentiable physically-based rendering (PBR) techniques to jointly recover BRDF materials and environment lighting, achieving a precise disentanglement remains an inherently difficult task due to the challenge of accurately modeling light transport. Existing approaches typically approximate Gaussian points' normals, which constitute an implicit geometric constraint. However, they usually suffer from inaccuracies in normal estimation that subsequently degrade light transport, resulting in noisy material decomposition and flawed relighting results. To address this, we propose GeoSplatting, a novel approach that augments 3DGS with explicit geometry guidance for precise light transport modeling. By differentiably constructing a surface-grounded 3DGS from an optimizable mesh, our approach leverages well-defined mesh normals and the opaque mesh surface, and additionally facilitates the use of mesh-based ray tracing techniques for efficient, occlusion-aware light transport calculations. This enhancement ensures precise material decomposition while preserving the efficiency and high-quality rendering capabilities of 3DGS. Comprehensive evaluations across diverse datasets demonstrate the effectiveness of GeoSplatting, highlighting its superior efficiency and state-of-the-art inverse rendering performance.

The advancement of 3D language fields has enabled intuitive interactions with 3D scenes via natural language. However, existing approaches are typically limited to small-scale environments, lacking the scalability and compositional reasoning capabilities necessary for large, complex urban settings. To overcome these limitations, we propose GeoProg3D, a visual programming framework that enables natural language-driven interactions with city-scale high-fidelity 3D scenes. GeoProg3D consists of two key components: (i) a Geography-aware City-scale 3D Language Field (GCLF) that leverages a memory-efficient hierarchical 3D model to handle large-scale data, integrated with geographic information for efficiently filtering vast urban spaces using directional cues, distance measurements, elevation data, and landmark references; and (ii) Geographical Vision APIs (GV-APIs), specialized geographic vision tools such as area segmentation and object detection. Our framework employs large language models (LLMs) as reasoning engines to dynamically combine GV-APIs and operate GCLF, effectively supporting diverse geographic vision tasks. To assess performance in city-scale reasoning, we introduce GeoEval3D, a comprehensive benchmark dataset containing 952 query-answer pairs across five challenging tasks: grounding, spatial reasoning, comparison, counting, and measurement. Experiments demonstrate that GeoProg3D significantly outperforms existing 3D language fields and vision-language models across multiple tasks. To our knowledge, GeoProg3D is the first framework enabling compositional geographic reasoning in high-fidelity city-scale 3D environments via natural language.

Estimating accurate and temporally consistent 3D human geometry from videos is a challenging problem in computer vision. Existing methods, primarily optimized for single images, often suffer from temporal inconsistencies and fail to capture fine-grained dynamic details. To address these limitations, we present GeoMan, a novel architecture designed to produce accurate and temporally consistent depth and normal estimations from monocular human videos. GeoMan addresses two key challenges: the scarcity of high-quality 4D training data and the need for metric depth estimation to accurately model human size. To overcome the first challenge, GeoMan employs an image-based model to estimate depth and normals for the first frame of a video, which then conditions a video diffusion model, reframing video geometry estimation task as an image-to-video generation problem. This design offloads the heavy lifting of geometric estimation to the image model and simplifies the video model's role to focus on intricate details while using priors learned from large-scale video datasets. Consequently, GeoMan improves temporal consistency and generalizability while requiring minimal 4D training data. To address the challenge of accurate human size estimation, we introduce a root-relative depth representation that retains critical human-scale details and is easier to be estimated from monocular inputs, overcoming the limitations of traditional affine-invariant and metric depth representations. GeoMan achieves state-of-the-art performance in both qualitative and quantitative evaluations, demonstrating its effectiveness in overcoming longstanding challenges in 3D human geometry estimation from videos.

Lidar-based 3D detection is one of the most popular research fields in autonomous driving. 3D detectors typically detect specific targets in a scene according to the pattern formed by the spatial distribution of point clouds. However, existing voxel-based methods usually adopt MLP and global pooling (e.g., PointNet, CenterPoint) as voxel feature encoder, which makes it less effective to extract detailed spatial structure information from raw points, leading to information loss and inferior performance. In this paper, we propose a novel graph-based transformer to encode voxel features by condensing the full and detailed point's geometry, termed as GeoFormer. We first represent points within a voxel as a graph, based on relative distances to capture its spatial geometry. Then, We introduce a geometry-guided transformer architecture to encode voxel features, where the adjacent geometric clues are used to re-weight point feature similarities, enabling more effective extraction of geometric relationships between point pairs at varying distances. We highlight that GeoFormer is a plug-and-play module which can be seamlessly integrated to enhance the performance of existing voxel-based detectors. Extensive experiments conducted on three popular outdoor datasets demonstrate that our GeoFormer achieves the start-of-the-art performance on both effectiveness and robustness comparisons.

Active Geo-localization (AGL) is the task of localizing a goal, represented in various modalities (e.g., aerial images, ground-level images, or text), within a predefined search area. Current methods approach AGL as a goal-reaching reinforcement learning (RL) problem with a distance-based reward. They localize the goal by implicitly learning to minimize the relative distance from it. However, when distance estimation becomes challenging or when encountering unseen targets and environments, the agent exhibits reduced robustness and generalization ability due to the less reliable exploration strategy learned during training. In this paper, we propose GeoExplorer, an AGL agent that incorporates curiosity-driven exploration through intrinsic rewards. Unlike distance-based rewards, our curiosity-driven reward is goal-agnostic, enabling robust, diverse, and contextually relevant exploration based on effective environment modeling. These capabilities have been proven through extensive experiments across four AGL benchmarks, demonstrating the effectiveness and generalization ability of GeoExplorer in diverse settings, particularly in localizing unfamiliar targets and environments.

Cross-view localization, the task of estimating a camera's 3-degrees-of-freedom (3-DoF) pose by aligning ground-level images with aerial images, is crucial for large-scale outdoor applications like autonomous navigation and augmented reality. Existing methods often rely on fully supervised learning, which requires costly ground-truth pose annotations. In this work, we propose GeoDistill, a Geometry guided weakly supervised self Distillation framework that uses teacher-student learning with Field-of-View (FoV)-based masking to enhance local feature learning for robust cross-view localization. In GeoDistill, the teacher model localizes a full view image, while the student model predicts locations from a limited FoV counterpart created by FoV-based masking. By aligning the student's predictions with those of the teacher, the student focuses on key features like lane lines and ignores textureless regions, such as roads. This results in more accurate predictions and reduced uncertainty. Our experiments show that GeoDistill significantly improves localization performance across different frameworks. Additionally, we introduce a novel orientation estimation network that predicts relative orientation without requiring precise planar position ground truth. GeoDistill provides a scalable and efficient solution for real-world cross-view localization challenges. Code and model can be found at https://github.com/tongshw/GeoDistill.

Precise geometric control in image generation is essential for fields like engineering & product design and creative industries to control 3D object features accurately in 2D image space. Traditional 3D editing approaches are time-consuming and demand specialized skills, while current image-based generative methods lack accuracy in geometric conditioning. To address these challenges, we propose GeoDiffusion, a training-free framework for accurate and efficient geometric conditioning of 3D features in image generation. GeoDiffusion employs a class-specific 3D object as a geometric prior to define keypoints and parametric correlations in 3D space. We ensure viewpoint consistency through a rendered image of a reference 3D object, followed by style transfer to meet user-defined appearance specifications. At the core of our framework is GeoDrag, improving accuracy and speed of drag-based image editing on geometry guidance tasks and general instructions on DragBench. Our results demonstrate that GeoDiffusion enables precise geometric modifications across various iterative design workflows.

Despite recent progress in 3D head avatar generation, balancing identity preservation, i.e., reconstruction, with novel poses and expressions, i.e., animation, remains a challenge. Existing methods struggle to adapt Gaussians to varying geometrical deviations across facial regions, resulting in suboptimal quality. To address this, we propose GeoAvatar, a framework for adaptive geometrical Gaussian Splatting. GeoAvatar leverages Adaptive Pre-allocation Stage (APS), an unsupervised method that segments Gaussians into rigid and flexible sets for adaptive offset regularization. Then, based on mouth anatomy and dynamics, we introduce a novel mouth structure and the part-wise deformation strategy to enhance the animation fidelity of the mouth. Finally, we propose a regularization loss for precise rigging between Gaussians and 3DMM faces. Moreover, we release DynamicFace, a video dataset with highly expressive facial motions. Extensive experiments show the superiority of GeoAvatar compared to state-of-the-art methods in reconstruction and novel animation scenarios.

We introduce Geo4D, a method to repurpose video diffusion models for monocular 3D reconstruction of dynamic scenes. By leveraging the strong dynamic priors captured by large-scale pre-trained video models, Geo4D can be trained using only synthetic data while generalizing well to real data in a zero-shot manner. Geo4D predicts several complementary geometric modalities, namely point, disparity, and ray maps. We propose a new multi-modal alignment algorithm to align and fuse these modalities, as well as a sliding window approach at inference time, thus enabling robust and accurate 4D reconstruction of long videos. Extensive experiments across multiple benchmarks show that Geo4D significantly surpasses state-of-the-art video depth estimation methods.

Recent advancements in Multimodal Large Language Models (MLLMs) have enabled their deployment on mobile devices. However, challenges persist in maintaining strong language capabilities and ensuring hardware compatibility, both of which are crucial for user experience and practical deployment efficiency. In our deployment process, we observe that existing MLLMs often face performance degradation on pure language tasks, and the current NPU platforms on smartphones do not support the MoE architecture, which is commonly used to preserve pure language capabilities during multimodal training. To address these issues, we systematically analyze methods to maintain pure language capabilities during the training of MLLMs, focusing on both training data and model architecture aspects. Based on these analyses, we propose GenieBlue, an efficient MLLM structural design that integrates both linguistic and multimodal capabilities for LLMs on mobile devices. GenieBlue freezes the original LLM parameters during MLLM training to maintain pure language capabilities. It acquires multimodal capabilities by duplicating specific transformer blocks for full fine-tuning and integrating lightweight LoRA modules. This approach preserves language capabilities while achieving comparable multimodal performance through extensive training. Deployed on smartphone NPUs, GenieBlue demonstrates efficiency and practicality for applications on mobile devices.

Generic event boundary detection (GEBD) aims to identify natural boundaries in a video, segmenting it into distinct and meaningful chunks. Despite the inherent subjectivity of event boundaries, previous methods have focused on deterministic predictions, overlooking the diversity of plausible solutions. In this paper, we introduce a novel diffusion-based boundary detection model, dubbed DiffGEBD, that tackles the problem of GEBD from a generative perspective. The proposed model encodes relevant changes across adjacent frames via temporal self-similarity and then iteratively decodes random noise into plausible event boundaries being conditioned on the encoded features. Classifier-free guidance allows the degree of diversity to be controlled in denoising diffusion. In addition, we introduce a new evaluation metric to assess the quality of predictions considering both diversity and fidelity. Experiments show that our method achieves strong performance on two standard benchmarks, Kinetics-GEBD and TAPOS, generating diverse and plausible event boundaries.

The model-based estimation of 3D animal pose and shape from images enables computational modeling of animal behavior. Training models for this purpose requires large amounts of labeled image data with precise pose and shape annotations. However, capturing such data requires the use of multi-view or marker-based motion-capture systems, which are impractical to adapt to wild animals in situ and impossible to scale across a comprehensive set of animal species. Some have attempted to address the challenge of procuring training data by pseudo-labeling individual real-world images through manual 2D annotation, followed by 3D-parameter optimization to those labels. While this approach may produce silhouette-aligned samples, the obtained pose and shape parameters are often implausible due to the ill-posed nature of the monocular fitting problem. Sidestepping real-world ambiguity, others have designed complex synthetic-data-generation pipelines leveraging game engines and collections of artist-designed 3D assets. Such engines yield perfect ground-truth labels but are often lacking in visual realism and require considerable manual effort to adapt to new species or environments. We propose an alternative approach to synthetic-data generation: rendering with a conditional image-generation model. We introduce a pipeline that samples a diverse set of poses and shapes for a variety of mammalian quadrupeds and generates realistic images with corresponding ground-truth pose and shape parameters. To demonstrate the scalability of our approach, we introduce GenZoo, a synthetic dataset containing one million images of distinct subjects. We train a 3D pose and shape regressor on GenZoo, which achieves state-of-the-art performance on a real-world multi-species 3D animal pose and shape estimation benchmark, despite being trained solely on synthetic data. We release our data and pipeline at https://genzoo.is.tue.mpg.de.