EFM3D: A Benchmark for Measuring Progress Towards 3D Egocentric Foundation Models

The advent of wearable computers enables a new source of context for AI that is embedded in egocentric sensor data. This new egocentric data comes equipped with fine-grained 3D location information and thus presents the opportunity for a novel class of spatial foundation models that are rooted in 3D space. To measure progress on what we term Egocentric Foundation Models (EFMs) we establish EFM3D, a benchmark with two core 3D egocentric perception tasks. EFM3D is the first benchmark for 3D object detection and surface regression on high quality annotated egocentric data of Project Aria. We propose Egocentric Voxel Lifting (EVL), a baseline for 3D EFMs. EVL leverages all available egocentric modalities and inherits foundational capabilities from 2D foundation models. This model, trained on a large simulated dataset, outperforms existing methods on the EFM3D benchmark.

EgoLifter: Open-world 3D Segmentation for Egocentric Perception

In this paper we present EgoLifter, a novel system that can automatically segment scenes captured from egocentric sensors into a complete decomposition of individual 3D objects. The system is specifically designed for egocentric data where scenes contain hundreds of objects captured from natural (non-scanning) motion. EgoLifter adopts 3D Gaussians as the underlying representation of 3D scenes and objects and uses segmentation masks from the Segment Anything Model (SAM) as weak supervision to learn flexible and promptable definitions of object instances free of any specific object taxonomy. To handle the challenge of dynamic objects in ego-centric videos, we design a transient prediction module that learns to filter out dynamic objects in the 3D reconstruction. The result is a fully automatic pipeline that is able to reconstruct 3D object instances as collections of 3D Gaussians that collectively compose the entire scene. We created a new benchmark on the Aria Digital Twin dataset that quantitatively demonstrates its state-of-the-art performance in open-world 3D segmentation from natural egocentric input. We run EgoLifter on various egocentric activity datasets which shows the promise of the method for 3D egocentric perception at scale.

Pixel-Aligned Recurrent Queries for Multi-View 3D Object Detection

We present PARQ - a multi-view 3D object detector with transformer and pixel-aligned recurrent queries. Unlike previous works that use learnable features or only encode 3D point positions as queries in the decoder, PARQ leverages appearance-enhanced queries initialized from reference points in 3D space and updates their 3D location with recurrent cross-attention operations. Incorporating pixel-aligned features and cross attention enables the model to encode the necessary 3D-to-2D correspondences and capture global contextual information of the input images. PARQ outperforms prior best methods on the ScanNet and ARKitScenes datasets, learns and detects faster, is more robust to distribution shifts in reference points, can leverage additional input views without retraining, and can adapt inference compute by changing the number of recurrent iterations.

Project Aria: A New Tool for Egocentric Multi-Modal AI Research

Egocentric, multi-modal data as available on future augmented reality (AR) devices provides unique challenges and opportunities for machine perception. These future devices will need to be all-day wearable in a socially acceptable form-factor to support always available, context-aware and personalized AI applications. Our team at Meta Reality Labs Research built the Aria device, an egocentric, multi-modal data recording and streaming device with the goal to foster and accelerate research in this area. In this paper, we describe the Aria device hardware including its sensor configuration and the corresponding software tools that enable recording and processing of such data.

OrienterNet: Visual Localization in 2D Public Maps with Neural Matching

Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this gap by introducing OrienterNet, the first deep neural network that can localize an image with sub-meter accuracy using the same 2D semantic maps that humans use. OrienterNet estimates the location and orientation of a query image by matching a neural Bird's-Eye View with open and globally available maps from OpenStreetMap, enabling anyone to localize anywhere such maps are available. OrienterNet is supervised only by camera poses but learns to perform semantic matching with a wide range of map elements in an end-to-end manner. To enable this, we introduce a large crowd-sourced dataset of images captured across 12 cities from the diverse viewpoints of cars, bikes, and pedestrians. OrienterNet generalizes to new datasets and pushes the state of the art in both robotics and AR scenarios. The code and trained model will be released publicly.

Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild

Recognizing scenes and objects in 3D from a single image is a longstanding goal of computer vision with applications in robotics and AR/VR. For 2D recognition, large datasets and scalable solutions have led to unprecedented advances. In 3D, existing benchmarks are small in size and approaches specialize in few object categories and specific domains, e.g. urban driving scenes. Motivated by the success of 2D recognition, we revisit the task of 3D object detection by introducing a large benchmark, called Omni3D. Omni3D re-purposes and combines existing datasets resulting in 234k images annotated with more than 3 million instances and 97 categories.3D detection at such scale is challenging due to variations in camera intrinsics and the rich diversity of scene and object types. We propose a model, called Cube R-CNN, designed to generalize across camera and scene types with a unified approach. We show that Cube R-CNN outperforms prior works on the larger Omni3D and existing benchmarks. Finally, we prove that Omni3D is a powerful dataset for 3D object recognition, show that it improves single-dataset performance and can accelerate learning on new smaller datasets via pre-training.

Nerfels: Renderable Neural Codes for Improved Camera Pose Estimation

This paper presents a framework that combines traditional keypoint-based camera pose optimization with an invertible neural rendering mechanism. Our proposed 3D scene representation, Nerfels, is locally dense yet globally sparse. As opposed to existing invertible neural rendering systems which overfit a model to the entire scene, we adopt a feature-driven approach for representing scene-agnostic, local 3D patches with renderable codes. By modelling a scene only where local features are detected, our framework effectively generalizes to unseen local regions in the scene via an optimizable code conditioning mechanism in the neural renderer, all while maintaining the low memory footprint of a sparse 3D map representation. Our model can be incorporated to existing state-of-the-art hand-crafted and learned local feature pose estimators, yielding improved performance when evaluating on ScanNet for wide camera baseline scenarios.

ODAM: Object Detection, Association, and Mapping using Posed RGB Video

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection, Association, and Mapping using posed RGB videos. The proposed system relies on a deep learning front-end to detect 3D objects from a given RGB frame and associate them to a global object-based map using a graph neural network (GNN). Based on these frame-to-model associations, our back-end optimizes object bounding volumes, represented as super-quadrics, under multi-view geometry constraints and the object scale prior. We validate the proposed system on ScanNet where we show a significant improvement over existing RGB-only methods.

FroDO: From Detections to 3D Objects

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction of object instances from RGB video that infers object location, pose and shape in a coarse-to-fine manner. Key to FroDO is to embed object shapes in a novel learnt space that allows seamless switching between sparse point cloud and dense DeepSDF decoding. Given an input sequence of localized RGB frames, FroDO first aggregates 2D detections to instantiate a category-aware 3D bounding box per object. A shape code is regressed using an encoder network before optimizing shape and pose further under the learnt shape priors using sparse and dense shape representations. The optimization uses multi-view geometric, photometric and silhouette losses. We evaluate on real-world datasets, including Pix3D, Redwood-OS, and ScanNet, for single-view, multi-view, and multi-object reconstruction.

Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstruction

Efficiently reconstructing complex and intricate surfaces at scale is a long-standing goal in machine perception. To address this problem we introduce Deep Local Shapes (DeepLS), a deep shape representation that enables encoding and reconstruction of high-quality 3D shapes without prohibitive memory requirements. DeepLS replaces the dense volumetric signed distance function (SDF) representation used in traditional surface reconstruction systems with a set of locally learned continuous SDFs defined by a neural network, inspired by recent work such as DeepSDF. Unlike DeepSDF, which represents an object-level SDF with a neural network and a single latent code, we store a grid of independent latent codes, each responsible for storing information about surfaces in a small local neighborhood. This decomposition of scenes into local shapes simplifies the prior distribution that the network must learn, and also enables efficient inference. We demonstrate the effectiveness and generalization power of DeepLS by showing object shape encoding and reconstructions of full scenes, where DeepLS delivers high compression, accuracy, and local shape completion.