https://github.com/lifuguan/IGGT_official

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However, most prior approaches prioritize\ntraining large geometry models for low-level 3D reconstruction and treat\nhigh-level spatial understanding in isolation, overlooking the crucial\ninterplay between these two fundamental aspects of 3D-scene analysis, thereby\nlimiting generalization and leading to poor performance in downstream 3D\nunderstanding tasks. Recent attempts have mitigated this issue by simply\naligning 3D models with specific language models, thus restricting perception\nto the aligned model's capacity and limiting adaptability to downstream tasks.\nIn this paper, we propose InstanceGrounded Geometry Transformer (IGGT), an\nend-to-end large unified transformer to unify the knowledge for both spatial\nreconstruction and instance-level contextual understanding. Specifically, we\ndesign a 3D-Consistent Contrastive Learning strategy that guides IGGT to encode\na unified representation with geometric structures and instance-grounded\nclustering through only 2D visual inputs. This representation supports\nconsistent lifting of 2D visual inputs into a coherent 3D scene with explicitly\ndistinct object instances. To facilitate this task, we further construct\nInsScene-15K, a large-scale dataset with high-quality RGB images, poses, depth\nmaps, and 3D-consistent instance-level mask annotations with a novel data\ncuration pipeline.","upvotes":42,"discussionId":"69003b1d22d452aac6dd43ae","projectPage":"https://lifuguan.github.io/IGGT_official","githubRepo":"https://github.com/lifuguan/IGGT_official","githubRepoAddedBy":"user","ai_summary":"InstanceGrounded Geometry Transformer (IGGT) unifies 3D reconstruction and instance-level understanding using a unified transformer and 3D-Consistent Contrastive Learning, supported by a new dataset InsScene-15K.","ai_keywords":["InstanceGrounded Geometry Transformer","IGGT","3D-Consistent Contrastive Learning","3D reconstruction","instance-level contextual understanding","3D scene","object instances","InsScene-15K"],"githubStars":341},"canReadDatabase":false,"canManagePapers":false,"canSubmit":false,"hasHfLevelAccess":false,"upvoted":false,"upvoters":[{"_id":"667b8de7a68bf81afe668afe","avatarUrl":"/avatars/aeff10805ff858332e6f6a58735dbbd9.svg","isPro":false,"fullname":"leoli","user":"lifuguan","type":"user"},{"_id":"63a07c3ab5515dccd40fdb71","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/63a07c3ab5515dccd40fdb71/ly3pwhjWVge25LAeVgriV.png","isPro":false,"fullname":"Yukang Cao","user":"yukangcao","type":"user"},{"_id":"67f8df26523620864e32103d","avatarUrl":"/avatars/636371a2323ef8d4f5e8ef7849a74d3b.svg","isPro":false,"fullname":"zzy","user":"sdkjasd1","type":"user"},{"_id":"6505a02f9310ce8c400edc63","avatarUrl":"/avatars/bbf781594fc8c812316711aa8e2797aa.svg","isPro":false,"fullname":"Fangfu Liu","user":"Liuff23","type":"user"},{"_id":"62ab1ac1d48b4d8b048a3473","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/1656826685333-62ab1ac1d48b4d8b048a3473.png","isPro":false,"fullname":"Ziwei Liu","user":"liuziwei7","type":"user"},{"_id":"6527b7280ae663e384eb8499","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6527b7280ae663e384eb8499/73yF3eu2cUx7jVZrhXnXx.jpeg","isPro":false,"fullname":"Senqiao Yang","user":"Senqiao","type":"user"},{"_id":"6683fc5344a65be1aab25dc0","avatarUrl":"/avatars/e13cde3f87b59e418838d702807df3b5.svg","isPro":false,"fullname":"hjkim","user":"hojie11","type":"user"},{"_id":"665734f3ee8c2ed395f7f600","avatarUrl":"/avatars/caffe58e8b64b5f7c9332963ca390213.svg","isPro":false,"fullname":"jiaqi","user":"chenttt","type":"user"},{"_id":"68633ab108c0b63ef2ec5679","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/no-auth/IEz7UJFvIk_K4DTTRCU_h.png","isPro":false,"fullname":"Xinhao Ji","user":"xinhaoji61","type":"user"},{"_id":"683e6f453ef1966f01adf2de","avatarUrl":"/avatars/931369dbcfb5954b5022bc6c158f089b.svg","isPro":false,"fullname":"xieqiang","user":"xieqiang2025","type":"user"},{"_id":"64b914c8ace99c0723ad83a9","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/64b914c8ace99c0723ad83a9/B4gxNByeVY_xaOcjwiN1j.jpeg","isPro":false,"fullname":"Wei Cheng","user":"wchengad","type":"user"},{"_id":"68dba0a23f1b73dc898832b5","avatarUrl":"/avatars/28f2dffd58d33c463e98082603120082.svg","isPro":false,"fullname":"Jialu Li","user":"vickyli123","type":"user"}],"acceptLanguages":["*"],"dailyPaperRank":0}">