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Jae-Young Kang, Hoonhee Cho, Kuk-Jin Yoon

3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event cameras, with their asynchronous nature and high temporal resolution, offer a solution by capturing motion continuously. The recent approach, which integrates event cameras with conventional sensors for continuous-time detection, struggles in fast-motion scenarios due to its dependency on synchronized sensors. We propose a novel stereo 3D object detection framework that relies solely on event cameras, eliminating the need for conventional 3D sensors. To compensate for the lack of semantic and geometric information in event data, we introduce a dual filter mechanism that extracts both. Additionally, we enhance regression by aligning bounding boxes with object-centric information. Experiments show that our method outperforms prior approaches in dynamic environments, demonstrating the potential of event cameras for robust, continuous-time 3D perception. The code is available at https://github.com/mickeykang16/Ev-Stereo3D.

Eunjin Son, HyungGi Jo, Wookyong Kwon, Sang Jun Lee

Omnidirectional stereo matching (OSM) estimates 360deg depth by performing stereo matching on multi-view fisheye images. Existing methods assume a unimodal depth distribution, matching each pixel to a single object. However, this assumption constrains the sampling range, causing over-smoothed depth artifacts, especially at object boundaries. To address these limitations, we propose MDP-Omni, a novel OSM network that leverages parameter-free multimodal depth priors. Specifically, we design a sampling strategy that adaptively adjusts the sampling range based on a multimodal probability distribution, without introducing any additional parameters. Furthermore, we present the azimuth-based multi-view volume fusion module to build a single cost volume. It mitigates false matches caused by occlusions in warped multi-view volumes. Experimental results demonstrate that MDP-Omni significantly improves existing methods, particularly in capturing fine details.

Xianqi Wang, Hao Yang, Gangwei Xu, Junda Cheng, Min Lin, Yong Deng, Jinliang Zang, Yurui Chen, Xin Yang

State-of-the-art supervised stereo matching methods have achieved remarkable performance on various benchmarks. However, their generalization to real-world scenarios remains challenging due to the scarcity of annotated real-world stereo data. In this paper, we propose ZeroStereo, a novel stereo image generation pipeline for zero-shot stereo matching. Our approach synthesizes high-quality right images from arbitrary single images by leveraging pseudo disparities generated by a monocular depth estimation model. Unlike previous methods that address occluded regions by filling missing areas with neighboring pixels or random backgrounds, we fine-tune a diffusion inpainting model to recover missing details while preserving semantic structure. Additionally, we propose Training-Free Confidence Generation, which mitigates the impact of unreliable pseudo labels without additional training, and Adaptive Disparity Selection, which ensures a diverse and realistic disparity distribution while preventing excessive occlusion and foreground distortion. Experiments demonstrate that models trained with our pipeline achieve state-of-the-art zero-shot generalization across multiple datasets with only a dataset volume comparable to Scene Flow. Code: https://github.com/Windsrain/ZeroStereo.

Chengtang Yao, Lidong Yu, Zhidan Liu, Jiaxi Zeng, Yuwei Wu, Yunde Jia

The matching formulation makes it naturally hard for the stereo matching to handle ill-posed regions like occlusions and non-Lambertian surfaces. Fusing monocular priors has been proven helpful for ill-posed matching, but the biased monocular prior learned from small stereo datasets constrains the generalization. Recently, stereo matching has progressed by leveraging the unbiased monocular prior from the vision foundation model (VFM) to improve the generalization in ill-posed regions. We dive into the fusion process and observe three main problems limiting the fusion of the VFM monocular prior. The first problem is the misalignment between affine-invariant relative monocular depth and absolute depth of disparity. Besides, when we use the monocular feature in an iterative update structure, the over-confidence in the disparity update leads to local optima results. A direct fusion of a monocular depth map could alleviate the local optima problem, but noisy disparity results computed at the first several iterations will misguide the fusion. In this paper, we propose a binary local ordering map to guide the fusion, which converts the depth map into a binary relative format, unifying the relative and absolute depth representation. The computed local ordering map is also used to re-weight the initial disparity update, resolving the local optima and noisy problem. In addition, we formulate the final direct fusion of monocular depth to the disparity as a registration problem, where a pixel-wise linear regression module can globally and adaptively align them. Our method fully exploits the monocular prior to support stereo matching results effectively and efficiently. We significantly improve the performance from the experiments when generalizing from SceneFlow to Middlebury and Booster datasets while barely reducing the efficiency.

Yun Wang, Longguang Wang, Chenghao Zhang, Yongjian Zhang, Zhanjie Zhang, Ao Ma, Chenyou Fan, Tin Lun Lam, Junjie Hu

Recently, learning-based stereo matching networks have advanced significantly.However, they often lack robustness and struggle to achieve impressive cross-domain performance due to domain shifts and imbalanced disparity distributions among diverse datasets.Leveraging Vision Foundation Models (VFMs) can intuitively enhance the model's robustness, but integrating such a model into stereo matching cost-effectively to fully realize their robustness remains a key challenge.To address this, we propose SMoEStereo, a novel framework that adapts VFMs for stereo matching through a tailored, scene-specific fusion of Low-Rank Adaptation (LoRA) and Mixture-of-Experts (MoE) modules.SMoEStereo introduces MoE-LoRA with adaptive ranks and MoE-Adapter with adaptive kernel sizes. The former dynamically selects optimal experts within MoE to adapt varying scenes across domains, while the latter injects inductive bias into frozen VFMs to improve geometric feature extraction.Importantly, to mitigate computational overhead, we further propose a lightweight decision network that selectively activates MoE modules based on input complexity, balancing efficiency with accuracy. Extensive experiments demonstrate that our method exhibits state-of-the-art cross-domain and joint generalization across multiple benchmarks without dataset-specific adaptation. The code is available at https://github.com/cocowy1/SMoE-Stereo.

Feng Qiao, Zhexiao Xiong, Eric Xing, Nathan Jacobs

Stereo images are fundamental to numerous applications, including extended reality (XR) devices, autonomous driving, and robotics. Unfortunately, acquiring high-quality stereo images remains challenging due to the precise calibration requirements of dual-camera setups and the complexity of obtaining accurate, dense disparity maps. Existing stereo image generation methods typically focus on either visual quality for viewing or geometric accuracy for matching, but not both. We introduce GenStereo, a diffusion-based approach, to bridge this gap. The method includes two primary innovations (1) conditioning the diffusion process on a disparity-aware coordinate embedding and a warped input image, allowing for more precise stereo alignment than previous methods, and (2) an adaptive fusion mechanism that intelligently combines the diffusion-generated image with a warped image, improving both realism and disparity consistency. Through extensive training on 11 diverse stereo datasets, GenStereo demonstrates strong generalization ability. GenStereo achieves state-of-the-art performance in both stereo image generation and unsupervised stereo matching tasks. Project page is available at https://qjizhi.github.io/genstereo.

Junhong Min, Youngpil Jeon, Jimin Kim, Minyong Choi

The pursuit of a generalizable stereo matching model, capable of performing well across varying resolutions and disparity ranges without dataset-specific fine-tuning, has revealed a fundamental trade-off. Iterative local search methods achieve high scores on constrained benchmarks, but their core mechanism inherently limits the global consistency required for true generalization. However, global matching architectures, while theoretically more robust, have historically been rendered infeasible by prohibitive computational and memory costs. We resolve this dilemma with S2M2: a global matching architecture that achieves state-of-the-art accuracy and high efficiency without relying on cost volume filtering or deep refinement stacks. Our design integrates a multi-resolution transformer for robust long-range correspondence, trained with a novel loss function that concentrates probability on feasible matches. This approach enables a more robust joint estimation of disparity, occlusion, and confidence. S2M2 establishes a new state of the art on Middlebury v3 and ETH3D benchmarks, significantly outperforming prior methods in most metrics while reconstructing high-quality details with competitive efficiency.

Takahiro Kushida, Kenichiro Tanaka

This paper introduces a novel method for detailed 3D shape reconstruction utilizing thermal polarization cues. Unlike state-of-the-art methods, the proposed approach is independent of illumination and material properties. In this paper, we formulate a general theory of polarization observation and show that long-wave infrared (LWIR) polarimetric imaging is free from the ambiguities that affect visible polarization analyses. Subsequently, we propose a method for recovering detailed 3D shapes using multi-view thermal polarimetric images. Experimental results demonstrate that our approach effectively reconstructs fine details in transparent, translucent, and heterogeneous objects, outperforming existing techniques.

Junpeng Jing, Weixun Luo, Ye Mao, Krystian Mikolajczyk

This paper introduces Stereo Any Video, a powerful framework for video stereo matching. It can estimate spatially accurate and temporally consistent disparities without relying on auxiliary information such as camera poses or optical flow. The strong capability is driven by rich priors from monocular video depth models, which are integrated with convolutional features to produce stable representations. To further enhance performance, key architectural innovations are introduced: all-to-all-pairs correlation, which constructs smooth and robust matching cost volumes, and temporal convex upsampling, which improves temporal coherence. These components collectively ensure robustness, accuracy, and temporal consistency, setting a new standard in video stereo matching. Extensive experiments demonstrate that our method achieves state-of-the-art performance across multiple datasets both qualitatively and quantitatively in zero-shot settings, as well as strong generalization to real-world indoor and outdoor scenarios. Code and models will be publicly released.

Haihao Zhang, Yunjian Zhang, Jianing Li, Lin Zhu, Meng Lv, Yao Zhu, Yanwei Liu, Xiangyang Ji

Accurate stereo matching under fast motion and extreme lighting conditions is a challenge for many vision applications. Event cameras have the advantages of low latency and high dynamic range, thus providing a reliable solution to this challenge. However, since events are sparse, this makes it an ill-posed problem to obtain dense disparity using only events. In this work, we propose a novel framework for event-based dense stereo via cross-sensor knowledge distillation. Specifically, a multi-level intensity-to-event distillation strategy is designed to maximize the potential of long-range information, local texture details, and task-related knowledge of the intensity images. Simultaneously, to enforce the cross-view consistency, an intensity-event joint left-right consistency module is proposed. With our framework, extensive dense and structural information contained in intensity images is distilled to the event branch. Therefore, retaining only the events can predict dense disparities during inference, preserving the low latency characteristics of the events. Adequate experiments conducted on the MVSEC and DSEC datasets demonstrate that our method exhibits superior stereo matching performance than baselines, both quantitatively and qualitatively.

Xu Cao, Takafumi Taketomi

We propose a neural inverse rendering approach that jointly reconstructs geometry, spatially varying reflectance, and lighting conditions from multi-view images captured under varying directional lighting. Unlike prior multi-view photometric stereo methods that require light calibration or intermediate cues such as per-view normal maps, our method jointly optimizes all scene parameters from raw images in a single stage. We represent both geometry and reflectance as neural implicit fields and apply shadow-aware volume rendering. A spatial network first predicts the signed distance and a reflectance latent code for each scene point. A reflectance network then estimates reflectance values conditioned on the latent code and angularly encoded surface normal, view, and light directions. The proposed method outperforms state-of-the-art normal-guided approaches in shape and lighting estimation accuracy, generalizes to view-unaligned multi-light images, and handles objects with challenging geometry and reflectance.

Yaopeng Lou, Liao Shen, Tianqi Liu, Jiaqi Li, Zihao Huang, Huiqiang Sun, Zhiguo Cao

We present Multi-Baseline Gaussian Splatting (MuGS), a generalized feed-forward approach for novel view synthesis that effectively handles diverse baseline settings, including sparse input views with both small and large baselines. Specifically, we integrate features from Multi-View Stereo (MVS) and Monocular Depth Estimation (MDE) to enhance feature representations for generalizable reconstruction. Next, We propose a projection-and-sampling mechanism for deep depth fusion, which constructs a fine probability volume to guide the regression of the feature map. Furthermore, We introduce a reference-view loss to improve geometry and optimization efficiency. We leverage 3D Gaussian representations to accelerate training and inference time while enhancing rendering quality. MuGS achieves state-of-the-art performance across multiple baseline settings and diverse scenarios ranging from simple objects (DTU) to complex indoor and outdoor scenes (RealEstate10K). We also demonstrate promising zero-shot performance on the LLFF and Mip-NeRF 360 datasets. Code is available at https://github.com/EuclidLou/MuGS.

Jinxiu Liang, Bohan Yu, Siqi Yang, Haotian Zhuang, Jieji Ren, Peiqi Duan, Boxin Shi

We present EventUPS, the first uncalibrated photometric stereo (UPS) method using an event camera--a neuromorphic sensor that asynchronously detects brightness changes with microsecond resolution. Traditional frame-based UPS methods are hindered by high bandwidth demands and limited use in dynamic scenes. These methods require dense image correspondence under varying illumination and are incompatible with the fundamentally different sensing paradigm of event data. Our approach introduces three key innovations: an augmented null space formulation that directly relates each event to joint constraints on surface normals and lighting, naturally handling ambient illumination; a continuous parameterization of time-varying illumination that connects asynchronous events to synchronized lighting estimation; and a lighting fixture with known relative geometry that reduces ambiguity to a convex-concave uncertainty. We validate EventUPS using a custom-built LED lighting system. Experimental results show that our method achieves accuracy surpassing its frame-based counterpart while requiring only 5% of the data bandwidth.

Jeonghoon Park, Juyoung Lee, Chaeyeon Chung, Jaeseong Lee, Jaegul Choo, Jindong Gu

Recent advancements in diffusion-based text-to-image (T2I) models have enabled the generation of high-quality and photorealistic images from text. However, they often exhibit societal biases related to gender, race, and socioeconomic status, thereby potentially reinforcing harmful stereotypes and shaping public perception in unintended ways. While existing bias mitigation methods demonstrate effectiveness, they often encounter attribute entanglement, where adjustments to attributes relevant to the bias (i.e., target attributes) unintentionally alter attributes unassociated with the bias (i.e., non-target attributes), causing undesirable distribution shifts. To address this challenge, we introduce Entanglement-Free Attention (EFA), a method that accurately incorporates target attributes (e.g., White, Black, and Asian) while preserving non-target attributes (e.g., background) during bias mitigation. At inference time, EFA randomly samples a target attribute with equal probability and adjusts the cross-attention in selected layers to incorporate the sampled attribute, achieving a fair distribution of target attributes. Extensive experiments demonstrate that EFA outperforms existing methods in mitigating bias while preserving non-target attributes, thereby maintaining the original model's output distribution and generative capacity.

Gangwei Xu, Jiaxin Liu, Xianqi Wang, Junda Cheng, Yong Deng, Jinliang Zang, Yurui Chen, Xin Yang

State-of-the-art stereo matching methods typically use costly 3D convolutions to aggregate a full cost volume, but their computational demands make mobile deployment challenging. Directly applying 2D convolutions for cost aggregation often results in edge blurring, detail loss, and mismatches in textureless regions. Some complex operations, like deformable convolutions and iterative warping, can partially alleviate this issue; however, they are not mobile-friendly, limiting their deployment on mobile devices. In this paper, we present a novel bilateral aggregation network (BANet) for mobile stereo matching that produces high-quality results with sharp edges and fine details using only 2D convolutions. Specifically, we first separate the full cost volume into detailed and smooth volumes using a spatial attention map, then perform detailed and smooth aggregations accordingly, ultimately fusing both to obtain the final disparity map. Experimental results demonstrate that our BANet-2D significantly outperforms other mobile-friendly methods, achieving 35.3% higher accuracy on the KITTI 2015 leaderboard than MobileStereoNet-2D, with faster runtime on mobile devices.

Jonathan Ventura, Viktor Larsson, Fredrik Kahl

Spherical motion is a special case of camera motion where the camera moves on the imaginary surface of a sphere with the optical axis normal to the surface. Common sources of spherical motion are a person capturing a stereo panorama with a phone held in an outstretched hand, or a hemi-spherical camera rig used for multi-view scene capture. However, traditional structure-from-motion pipelines tend to fail on spherical camera motion sequences, especially when the camera is facing outward. Building upon prior work addressing the calibrated case, we explore uncalibrated reconstruction from spherical motion, assuming a fixed but unknown focal length parameter. We show that, although two-view spherical motion is always a critical case, self-calibration is possible from three or more views. Through analysis of the relationship between focal length and spherical relative pose, we devise a global structure-from-motion approach for uncalibrated reconstruction. We demonstrate the effectiveness of our approach on real-world captures in various settings, even when the camera motion deviates from perfect spherical motion. Code and data for our method are available at https://github.com/jonathanventura/spherical-sfm.

Harry Cheng, Yangyang Guo, Qingpei Guo, Ming Yang, Tian Gan, Weili Guan, Liqiang Nie

Multi-modal Large Language Models (MLLMs) have dramatically advanced the research field and delivered powerful vision-language understanding capabilities. However, these models often inherit deep-rooted social biases from their training data, leading to uncomfortable responses with respect to attributes such as race and gender. This paper addresses the issue of social biases in MLLMs by i) introducing a comprehensive counterfactual dataset with multiple social concepts (CMSC), which complements existing datasets by providing 18 diverse and balanced social concepts; and ii) proposing a counter-stereotype debiasing (CSD) strategy that mitigates social biases in MLLMs by leveraging the opposites of prevalent stereotypes. CSD incorporates both a novel bias-aware data sampling method and a loss rescaling method, enabling the model to effectively reduce biases. We conduct extensive experiments with four prevalent MLLM architectures. The results demonstrate the advantage of the CMSC dataset and the edge of CSD strategy in reducing social biases compared to existing competing methods, without compromising the overall performance on general multi-modal reasoning benchmarks.

Shengrong Yuan, Runmin Wang, Ke Hao, Xuqi Ma, Changxin Gao, Li Liu, Nong Sang

Scene text image super-resolution (STISR) focuses on enhancing the clarity and readability of low-resolution text images. Existing methods often rely on text probability distribution priors derived from text recognizers to guide the super-resolution process. While effective in capturing general structural information of text, these priors lack the ability to preserve specific text style details, such as font, stereoscopic effect and spatial transformation, leading to a loss of visual quality and stylistic consistency in the super-resolved images. To address these limitations, we propose a Style embedding-based scene text image Super-Resolution Network (StyleSRN), which introduces a text style embedding mechanism to preserve and enhance text style features during the super-resolution process. The proposed architecture includes a Style Enhancement Block for capturing multi-scale cross-channel dependencies, and a Style Content Fusion Block that effectively integrates text content with style information, ensuring that the structure and style of the restored text are not distorted. Furthermore, we introduce a Text Style Loss based on the Gram matrix to supervise the reconstruction process at the style level, thereby maintaining the stylistic consistency of the restored text images. Extensive experiments on the TextZoom dataset and five scene text recognition benchmarks demonstrate the superiority of our method. The code will be released in the future.

Yuran Wang, Yingping Liang, Yutao Hu, Ying Fu

Learning-based stereo matching models struggle in adverse weather conditions due to the scarcity of corresponding training data and the challenges in extracting discriminative features from degraded images. These limitations significantly hinder zero-shot generalization to out-of-distribution weather conditions. In this paper, we propose **RobuSTereo** a novel framework that enhances the zero-shot generalization of stereo matching models under adverse weather by addressing both data scarcity and feature extraction challenges. First, we introduce a diffusion-based simulation pipeline with a stereo consistency module, which generates high-quality stereo data tailored for adverse conditions. By training stereo matching models on our synthetic datasets, we reduce the domain gap between clean and degraded images, significantly improving the models' robustness to unseen weather conditions. The stereo consistency module ensures structural alignment across synthesized image pairs, preserving geometric integrity and enhancing depth estimation accuracy. Second, we design a robust feature encoder that combines a specialized ConvNet with a denoising transformer to extract stable and reliable features from degraded images. The ConvNet captures fine-grained local structures, while the denoising transformer refines global representations, effectively mitigating the impact of noise, low visibility, and weather-induced distortions. This enables more accurate disparity estimation even under challenging visual conditions. Extensive experiments demonstrate that **RobuSTereo** significantly improves the robustness and generalization of stereo matching models across diverse adverse weather scenarios.

Pierre-André Brousseau, Sébastien Roy

Absolute depth estimation from single camera sequence of images is a relevant task given that mobile machines increasingly rely on vision to navigate. Deep learning for stereo matching has been demonstrated to improve performance for stereo rectified depth estimation but these methods require straightforward left-right camera setups. This work proposes to introduce deep stereo matching to two views of a monocular image sequence obtained from a camera in motion in a static scene. This paper introduces a novel and principled spherical epipolar rectification model, which handles all camera motions. This rectification model is differentiable and allows self-supervised deep stereo matching algorithms to compute disparity and recover depth, given known camera pose. This paper also introduces a spherical crop operation which limits rectified image size and allows for competitive absolute depth estimation performance. This results in a spherical rectification model that is demonstrated to provide metric depth and compete favorably with current state-of-the-art monocular depth estimators. The code is available at https://gitlab.com/labv3d/spherical-stereo.git.