arXiv:2605.07550cs.CV2026-05

用生成模型连接无重叠视角,实现精准3D重建。

Mind the Gap: Geometrically Accurate Generative Reconstruction from Disjoint Views

论文配图:Mind the Gap: Geometrically Accurate Generative Reconstruction from Disjoint Views
图 1 · 摘自论文原文
  • 通过生成中间视角填补视角断层
  • 在零重叠下实现连贯几何结构,避免碎片化结果
  • 框架可适配未来生成与重建技术,适合机器人/众包场景

3D视觉系统受限于视角重叠:重建方法依赖重叠进行几何对齐,生成模型则需重叠确保多视角一致性。这一限制在分布式蜂群机器人或众包数据采集等真实场景中尤为突出,因空间与外观重叠难以获取。本文提出生成式非重叠视角重建新范式,构建全面数据集并设计零重叠评估指标。基准测试显示,现有先进方法在此任务上严重失效,产生不连贯几何或语义错乱结果。为此,我们提出GLADOS框架,分三阶段运行:(1) 生成桥接——利用基础模型合成中间视角连接离散输入;(2) 鲁棒粗粒度3D重建——通过全局对齐建立粗略几何骨架,吸收生成过程中的局部矛盾;(3) 迭代上下文扩展与一致性优化——填补缺失区域并统一重建结果。作为架构无关框架,GLADOS可无缝集成未来生成、重建与修补进展。代码已开源:https://github.com/gwilczynski95/GLADOS。

原文摘要 · Abstract (English)

3D vision systems are fundamentally constrained by their reliance on visual overlap: reconstruction methods require it for geometric alignment, while generative models use it to enforce multi-view consistency. This limitation is particularly acute in real-world scenarios such as distributed swarm robotics or crowd-sourced data collection, where capturing overlapping perspectives, both in terms of spatial and appearance overlap, is often impossible. We introduce Generative Reconstruction from Disjoint Views as a new paradigm, establish a comprehensive dataset, and propose specialized evaluation metrics for zero-overlap scenarios. Our benchmarking demonstrates that existing state-of-the-art methods fail catastrophically on this task, producing disconnected geometries or semantically incoherent reconstructions. To address these limitations, we propose GLADOS, a general, modular framework that operates through three stages: (1) Generative Bridging, where foundation models synthesize intermediate perspectives to connect disjoint inputs; (2) Robust Coarse 3D Reconstruction, that establish coarse geometric scaffold via global alignment which absorbs local contradictions from generative process; and (3) Iterative Context Expansion and Consistency Optimization to fill missing regions and unify the reconstruction. As an architectureagnostic framework, GLADOS enables seamless integration of future advances in generation, reconstruction, and inpainting. The source code is available at: https://github.com/gwilczynski95/GLADOS.

3D重建生成模型无重叠视图

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