#01Oct 19, 2026
cs.CV
PlanarCityLoc: Breaking Silhouette Ambiguity in LoD Aerial Localization via 3D Planes
Oussema Dhaouadi, Shao Jie Hu-Chen, Jakob Gollreiter and 10 more
Aerial visual localization is crucial for autonomous drone navigation in urban environments where GNSS signals are often degraded. Lightweight textureless Level-of-Detail (LoD) city models provide a geometric map alternative to textured assets. Existing silhouette-based methods rely on image-space alignment, which can leave different camera poses indistinguishable and favor incorrect poses when segmentation errors distort the building outlines. We present PlanarCityLoc, which moves beyond silhouette overlap by leveraging the planar geometry of building facades and roofs. Following geometry-aware initialization, we match image-side planar patches to LoD model planes and use the resulting 3D-to-2D correspondences to refine pose with Perspective-n-Point (PnP). The framework uses off-the-shelf geometry and segmentation models without dataset-specific training or fine-tuning. Experiments on UAVD4L-LoDv2 and Swiss-EPFLv2 achieve state-of-the-art localization recall among the evaluated off-the-shelf LoD-based methods. By grounding image-space alignment in 3D planes, PlanarCityLoc enables more accurate aerial localization with lightweight, textureless city maps.
#02Oct 19, 2026
cs.CV
Beyond Omni: A Unified MLLM for Embodied Sensory Understanding
Shiyun Xiong, Dongming Wu, Peiwen Sun and 5 more
Recent embodied systems increasingly build on multimodal large language models (MLLMs) for their pretrained understanding and reasoning capabilities, but their perception of the physical world remains largely limited to basic modalities such as vision and audio. However, broadening MLLMs to more diverse sensory modalities from the physical environment is challenging: their representations are often weakly connected to the MLLM and vary substantially in structure and statistics, while their interpretation still requires shared high-level understanding and reasoning. We therefore propose Unisense, a unified embodied MLLM framework that supports diverse physical sensory modalities within a shared multimodal architecture. Unisense follows a two-stage training process: (i) aligning sensory representations with language to establish a language-accessible interface; and (ii) tuning modality-specific experts within the shared LLM to provide specialized processing for different sensory modalities. To support broad sensory learning, we curate Unisense-1M, a large-scale embodied sensory training corpus comprising 1M samples across 8 sensory modalities. We further evaluate Unisense on 12 benchmarks spanning depth, point cloud, IMU, tactile, thermal, radar, motion, and smell understanding. Across these heterogeneous sensing tasks, Unisense achieves strong performance and outperforms both generalist and specialized models on most benchmarks, demonstrating the potential of pretrained MLLMs as unified models for embodied sensory understanding.
#03Oct 19, 2026
cs.CV
InfiniDream: Open-Ended Photorealistic 3D Worlds Through Procedural Generation
Yi-Chuan Huang, Hao-Jen Chien, Zheng-Hui Huang and 3 more
Procedural generation plays a key role in synthetic data creation and game development, offering greater controllability, editability, and diversity than static mesh representations. However, VLM-based code generation often produces relatively simple 3D assets, while sophisticated photorealistic procedural systems require extensive manual development. Existing VLM-guided procedural methods remain largely constrained by predefined factories and APIs, limiting their ability to create novel asset types. We introduce InfiniDream, a VLM-driven framework for open-ended procedural 3D world generation. First, we propose Symbolically Constrained Asset Generation, which leverages existing procedural algorithms to create novel, photorealistic assets while preserving editability and seed-based diversity. Second, we develop an end-to-end text-to-world pipeline that combines semantic scene planning with Deterministic Frustum-Guided Grid Placement to construct large-scale 3D worlds with precise object placement, procedural population, and animation. Extensive evaluations on 100 object and 20 scene generation tasks demonstrate improvements across four perceptual metrics. Diversity analysis, ablation studies, and human preference evaluations further validate the effectiveness of our framework. Project page: https://yichuanh.github.io/infinidream-page/
#04Oct 19, 2026
cs.CV
Manga2Animate: An Agentic Framework for Faithful Manga Animation with Script and Storyboard Planning
Sheng-Wei Zhang, Hsi-An Chen, Yan-Ting Liou and 3 more
Adapting existing manga into coherent animation that stays faithful to the source is a valuable yet challenging task. Existing methods either access the manga mainly through text, losing its characters and art style, or feed manga pages directly into video generation models, which misinterpret the manga's structure and produce incorrect storylines. In this paper, we propose Manga2Animate, a multi-agent framework that grounds every stage of generation in the source manga. We decompose the task into two intermediate representations, an animation script and a visual storyboard. Each representation is produced by a creator agent and reviewed against the source panels by a paired reviewer agent. We tailor representation-specific selection and dual-level feedback to progressively refine both before synthesizing the final animation. Extensive experiments and a user study demonstrate that Manga2Animate produces animations more faithful to the source manga and more consistent across shots than state-of-the-art approaches. Project page: https://annchenn.github.io/Manga2Animate/
#05Oct 19, 2026
cs.CV
CaptionFuse: Training-Free Composed Product Retrieval Via VLM Intent Captioning and Weighted Embedding Fusion
Zhao Gao, Mina Metias, Mohamed Noordeen Alaudeen and 1 more
Composed Image Retrieval (CIR) retrieves products matching a reference image modified by natural language---a core capability for eCommerce search. Existing training-free methods fuse CLIP embeddings via arithmetic, but we identify a fundamental limitation: user text modifications are attribute-sparse---a user who types ``make it red with shorter sleeves'' specifies what to change but not what to keep (the floral pattern, the V-neck, the fit-and-flare silhouette). We introduce language-space fusion: a Vision-Language Model (VLM) jointly interprets the reference image and modification to generate a visually grounded product-title caption---e.g., ``Red floral fit-and-flare dress with short sleeves and V-neck''---that fills in the missing attributes from the image. Our method, CaptionFuse, requires no task-specific training and is model-agnostic. A controlled experiment confirms that attribute content--- not linguistic style---drives the gains: imperative and descriptive captions with identical attributes achieve equal R@10, while both outperform raw modifications by +6.5 points.