mlsanityData to 7 Oct 2026

Mono-STAR: Mono-camera Scene-level Tracking and Reconstruction

arXiv 2301.13244 ↗First posted 30 Jan 2023cs.RO cs.CVcited by 4

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Abstract (arXiv)

We present Mono-STAR, the first real-time 3D reconstruction system that simultaneously supports semantic fusion, fast motion tracking, non-rigid object deformation, and topological change under a unified framework. The proposed system solves a new optimization problem incorporating optical-flow-based 2D constraints to deal with fast motion and a novel semantic-aware deformation graph (SAD-graph) for handling topology change. We test the proposed system under various challenging scenes and demonstrate that it significantly outperforms existing state-of-the-art methods.

Key facts. Cited by 4 papers in the map (data through 7 Oct 2026). Builds on 20 of its 31 references that are in the map. First posted on arXiv 30 Jan 2023.

Builds on

20 of 31 references.

References · 20

  1. 2017Mask R-CNNcited by 7,259
  2. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,385
  3. 2016Semantic Understanding of Scenes through the ADE20K Datasetcited by 1,063
  4. 2015A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimationcited by 878
  5. 2016COCO-Stuff: Thing and Stuff Classes in Contextcited by 858
  6. 2021Segmenter: Transformer for Semantic Segmentationcited by 855
  7. 2021Learning to Estimate Hidden Motions with Global Motion Aggregationcited by 223
  8. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  9. 2022You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstrationcited by 79
  10. 2016VolumeDeform: Real-time Volumetric Non-rigid Reconstructioncited by 75
  11. 2018MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAMcited by 65
  12. 2017Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objectscited by 47
8 more
  1. 2019SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstructioncited by 31
  2. 2022OcclusionFusion: Occlusion-aware Motion Estimation for Real-time Dynamic 3D Reconstructioncited by 27
  3. 2021Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulationcited by 10
  4. 2018Topology-Aware Non-Rigid Point Cloud Registrationcited by 8
  5. 2019Scene-level Pose Estimation for Multiple Instances of Densely Packed Objectscited by 8
  6. 2018Physics-based Scene-level Reasoning for Object Pose Estimation in Cluttercited by 5
  7. 2020Topology-Change-Aware Volumetric Fusion for Dynamic Scene Reconstructioncited by 5
  8. 2022Scene-level Tracking and Reconstruction without Object Priorscited by 4

Built on by

Cited by year

Citing papers per year: 2023: 2; 2024: 1; 2025: 1.

4 papers.

  1. 2023Neural Parametric Gaussians for Monocular Non-Rigid Object Reconstructioncited by 60
  2. 2023Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphscited by 33
  3. 2024Recent Trends in 3D Reconstruction of General Non-Rigid Scenescited by 28
  4. 2025Motion Blender Gaussian Splatting for Dynamic Scene Reconstructioncited by 3