We present TrackGS, a novel method to integrate global feature tracks with 3D Gaussian Splatting (3DGS) for COLMAP-free novel view synthesis. While 3DGS delivers impressive rendering quality, its reliance on accurate precomputed camera parameters remains a significant limitation. Existing COLMAP-free approaches depend on local constraints that fail in complex scenarios. Our key innovation lies in leveraging feature tracks to establish global geometric constraints, enabling simultaneous optimization of camera parameters and 3D Gaussians. Specifically, we: (1) introduce track-constrained Gaussians that serve as geometric anchors, (2) propose novel 2D and 3D track losses to enforce multi-view consistency, and (3) derive differentiable formulations for camera intrinsics optimization. Extensive experiments on challenging real-world and synthetic datasets demonstrate state-of-the-art performance, with much lower pose error than previous methods while maintaining superior rendering quality. Our approach eliminates the need for COLMAP preprocessing, making 3DGS more accessible for practical applications.

In this paper, we present PTZ-Calib, a robust two-stage PTZ camera calibration method, that efficiently and accurately estimates camera parameters for arbitrary viewpoints. Our method includes an offline and an online stage. In the offline stage, we first uniformly select a set of reference images that sufficiently overlap to encompass a complete 360° view. We then utilize the novel PTZ-IBA (PTZ Incremental Bundle Adjustment) algorithm to automatically calibrate the cameras within a local coordinate system. Additionally, for practical application, we can further optimize camera parameters and align them with the geographic coordinate system using extra global reference 3D information. In the online stage, we formulate the calibration of any new viewpoints as a relocalization problem. Our approach balances the accuracy and computational efficiency to meet real-world demands. Extensive evaluations demonstrate our robustness and superior performance over state-of-the-art methods on various real and synthetic datasets. Datasets and source code can be accessed online at https://github.com/gjgjh/PTZ-Calib

While vision language models (VLMs) excel in 2D semantic visual understanding, their ability to quantitatively reason about 3D spatial relationships remains underexplored due to the deficiency of spatial representation ability of 2D images. In this paper, we analyze the problem hindering VLMs’ spatial understanding abilities and propose SD-VLM, a novel framework that significantly enhances fundamental spatial perception abilities of VLMs through two key contributions: (1) propose Massive Spatial Measuring and Understanding (MSMU) dataset with precise spatial annotations, and (2) introduce a simple depth positional encoding method strengthening VLMs’ spatial awareness. MSMU dataset includes massive quantitative spatial tasks with 700K QA pairs, 2.5M physical numerical annotations, and 10K chain-of-thought augmented samples. We have trained SD-VLM, a strong generalist VLM which shows superior quantitative spatial measuring and understanding capability. SD-VLM not only achieves state-of-the-art performance on our proposed MSMU-Bench, but also shows spatial generalization abilities on other spatial understanding benchmarks including Q-Spatial and SpatialRGPTBench. Extensive experiments demonstrate that SD-VLM outperforms GPT-4o and Intern-VL3-78B by 26.91% and 25.56% respectively on MSMU-Bench. Code and models are released at https://github.com/cpystan/SD-VLM.

Abstract In this paper, we introduce NoPe‐NeRF++, a novel local‐to‐global optimization algorithm for training Neural Radiance Fields (NeRF) without requiring pose priors. Existing methods, particularly NoPe‐NeRF, which focus solely on the local relationships within images, often struggle to recover accurate camera poses in complex scenarios. To overcome the challenges, our approach begins with a relative pose initialization with explicit feature matching, followed by a local joint optimization to enhance the pose estimation for training a more robust NeRF representation. This method significantly improves the quality of initial poses. Additionally, we introduce global optimization phase that incorporates geometric consistency constraints through bundle adjustment, which integrates feature trajectories to further refine poses and collectively boost the quality of NeRF. Notably, our method is the first work that seamlessly combines the local and global cues with NeRF, and outperforms state‐of‐the‐art methods in both pose estimation accuracy and novel view synthesis. Extensive evaluations on benchmark datasets demonstrate our superior performance and robustness, even in challenging scenes, thus validating our design choices.

Key-value stores (KVStores), such as LevelDB and Redis, have been widely used in real-world production environments. To guarantee data durability and availability, traditional KVStores suffer from high write latency, mainly caused by the long network and data-persisting time. To solve this problem, this article presents a novel data-persisting path for KVStores, allowing remote clients to persist data to the KVStore server with$\mu s$-level latency. The novelty of this study is threefold. First, we propose PMRDirect, which utilizes a persistent memory region (PMR) in the NVM express standard to construct a direct data-persisting path from the RDMA networking card (NIC) to the PMR region inside an SSD. Second, to showcase PMRDirect in KVStores, we developed a new accessing stack called PMRAccess, enabling remote clients to access existing KVStores and providing durability for each write request. Specifically, we present a low-latency RDMA-based messaging mode and a chunk-based PMR management in PMRAccess to reduce write latency and improve system throughput. Finally, we conducted extensive experiments to evaluate the performance of our proposals. We first compared PMRDirect with a few remote data-persisting paths to show its effectiveness. Then, we evaluated PMRAccess upon two KVStores, including LibCuckoo (an in-memory KVStore) and LevelDB (an in-storage KVStore). The results showed that PMRAccess outperformed the SSD-based accessing stack by up to$6.1\times $in write throughput and$36\times $in write tail latency, and it achieved$1.7\times $higher write throughput and$0.59\times $lower write tail latency over the PMEM-based accessing stack. Further, we conducted a system-to-system comparison between the PMRAccess-integrated LibCuckoo and Redis, and the results showed our proposal achieved up to$13\times $higher throughputs and$40\times $lower write latency than Redis.