# CIPHER: Culvert Inspection through Pairwise Frame Selection and High-Efficiency Reconstruction

arXiv: https://arxiv.org/abs/2603.14150 · HTML: https://mlsanity.com/paper/2603.14150/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 33 references that are in the map.
- First posted on arXiv 14 Mar 2026.

## Builds on (most cited first, 14 of 14)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [TensoRF: Tensorial Radiance Fields](https://mlsanity.com/paper/2203.09517/) (2022)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [VideoPainter: Any-length Video Inpainting and Editing with Plug-and-Play Context Control](https://mlsanity.com/paper/2503.05639/) (2025)
- [AVID: Any-Length Video Inpainting with Diffusion Model](https://mlsanity.com/paper/2312.03816/) (2023)
- [Large Spatial Model: End-to-end Unposed Images to Semantic 3D](https://mlsanity.com/paper/2410.18956/) (2024)
- [STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes](https://mlsanity.com/paper/2501.00602/) (2024)
- [VideoPipe 2022 Challenge: Real-World Video Understanding for Urban Pipe Inspection](https://mlsanity.com/paper/2210.11158/) (2022)
- [Automated Robotic Monitoring and Inspection of Steel Structures and Bridges](https://mlsanity.com/paper/1705.04888/) (2017)

## Built on by (most cited first, 1 of 1)

- [Seeing Where to Deploy: Metric RGB-Based Traversability Analysis for Aerial-to-Ground Hidden Space Inspection](https://mlsanity.com/paper/2603.14639/) (2026)

## Abstract (arXiv)

Automated culvert inspection systems can help increase the safety and efficiency of flood management operations. As a key step to this system, we present an efficient RGB-based 3D reconstruction pipeline for culvert-like structures in visually repetitive environments. Our approach first selects informative frame pairs to maximize viewpoint diversity while ensuring valid correspondence matching using a plug-and-play module, followed by a reconstruction model that simultaneously estimates RGB appearance, geometry, and semantics in real-time. Experiments demonstrate that our method effectively generates accurate 3D reconstructions and depth maps, enhancing culvert inspection efficiency with minimal human intervention.