#01Oct 22, 2026
cs.CV
HiP3R: Hierarchical Pose Graphs for Long-Horizon 3D Reconstruction
Zunnan Xu, Shangchen Zhou, Yihang Luo and 1 more
Feed-forward models accurately estimate camera motion and 3D geometry from short video windows. However, computational and memory costs prevent direct inference on sequences containing thousands of frames. Long videos must therefore be processed as overlapping chunks. This division produces independent local reconstructions with inconsistent coordinate frames and duplicate estimates of shared cameras. Achieving global consistency requires propagating constraints from adjacent overlaps and distant revisits across the sequence. This requirement naturally motivates pose graph optimization. However, the choice of graph level creates a trade-off. Chunk-level graphs efficiently resolve scale drift and close large loops. Yet, their rigid transformations cannot correct internal errors or conflicting frame predictions. Conversely, frame-level optimization offers local flexibility, but scaling it globally is computationally expensive and can break metric scale. HiP3R resolves this trade-off using a hierarchical pose graph. HiP3R first optimizes a robust chunk-level $\mathrm{Sim}(3)$ graph to establish the global layout and scale. It then holds this layout fixed and estimates one shared $\mathrm{SE}(3)$ camera per frame, turning overlapping window predictions into a single trajectory. Experiments across multiple benchmarks demonstrate the effectiveness of HiP3R in improving camera trajectories and 3D reconstruction. Our method applies to both chunk-based and streaming backends without additional training or fine-tuning. The codes are available at https://kkakkkka.github.io/HiP3R.
#02Oct 22, 2026
cs.CV
A Task-Centric Survey of Long-Document Visual Question Answering: Taxonomy, Evolution, and Future Directions
Yufei Tong, Guanjie Cheng, Tianle Wu and 5 more
Visual document understanding is essential for acquiring knowledge from visually rich documents and is attracting growing research interest. Existing surveys emphasize architectures or technical approaches, with limited attention to how task bottlenecks shape technical choices and research priorities. We present a task-centric survey that decomposes long-document visual question answering (VQA) into four components: document parsing, evidence organization and retrieval, generator organization and learning, and evaluation. For each, we develop a fine-grained taxonomy and trace motivations, technical responses, and cross-component connections. We focus on explicit retrieval while covering direct reading. Our temporal analysis traces expanding priorities from multimodal content understanding to sufficient, high-fidelity evidence acquisition and sustained evidence management. We outline future directions in evidence sufficiency, verifiable and correctable understanding, and budget-aware coordination, with an outlook on continual document understanding.
#03Oct 22, 2026
cs.CV
Data-Driven Vision-Language Models for Remote Sensing: A Survey
Yue Zhou, Shujun Zhao, Xue Yang and 7 more
During the deep learning era, innovations in remote sensing (RS) vision models primarily focused on optimizing network architectures for specific tasks and conducting end-to-end training. However, with the advent of the Vision-Language Models (VLMs) era, constrained by substantial computational resource demands, the mainstream research paradigm has shifted towards adapting general-purpose VLMs using RS vertical domain data for fine-tuning, rather than modifying their core architectures. This transition marks a change in the innovation pathway from model-centric to data-centric. Despite the increasing importance of data, the academic community still lacks a systematic, data-centric survey to guide researchers in constructing high-quality RS vision-language datasets for various application scenarios and in conducting effective model fine-tuning and performance evaluation based on these datasets. To address this gap, this paper presents a systematic review of the development status of RS datasets tailored for VLMs. It further provides a comprehensive practical guide for RS researchers in the large model era, covering the entire pipeline from data construction to fine-tuning and evaluation. This paper aims to encourage the academic community to build more diverse and higher-quality vision-language datasets for specialized RS sub-fields. Ultimately, the goal is to converge these efforts into a comprehensive RS vision-language corpus that offers extensive task coverage and a wide geographical distribution, thereby laying a solid data foundation for advancing towards general artificial intelligence in RS.
#04Oct 22, 2026
cs.RO
A Sparse Topometric Graph for Scalable Cross-Session Indoor Navigation
Eun Sun Lee, Minkyun Seo, Gwangtak Bae and 4 more
A conventional embodied agent in an indoor environment builds a map by accumulating noisy real-world measurements and results from heavy inference to guide navigation. While the detailed measurements may differ due to scene changes or sensor settings, the unique topological structure of navigable passages or the connectivity between rooms may provide training-free guidance that complements local observations. We propose a sparse topometric graph as an efficient structural representation for robust indoor navigation, alleviating the need for fine-grained matching, which is computationally expensive, memory-intensive, and prone to real-world variations. The map consists of nodes that encode local 3D geometry and distance-weighted edges that capture traversable connectivity. A learned graph-matching network finds consistent subgraph structures across sessions by considering both node-level geometric descriptors and neighborhood connectivity. The holistic contextual matching is robust to local ambiguities caused by weak distinctiveness or repetitive structure, and establishes stable correspondences despite local scene changes, different sensor modalities, or limited spatial overlap. We analyze the practicality of the graph through cross-session point-goal navigation, where a goal specified in a prior reference map must be reached from an unknown initial pose in a later session. Experiments show that our method achieves the highest success rates (77.1% on Gibson and 40.0% under 3D-FRONT scene changes), while reducing memory by more than two orders of magnitude compared to point-level representations. The proposed approach further supports cross-session alignment and goal-directed navigation with strong scalability and robust real-world transfer.
#05Oct 22, 2026
cs.CV
SpectralCanary: Embarrassingly Simple Low-Frequency Traces for T2I Dataset-Use Auditing
Sy-Tuyen Ho, Anirudh Satheesh, Soham Chawathe and 4 more
Auditing whether a text-to-image (T2I) model was fine-tuned on a particular image collection is difficult: a model can absorb collection-level visual characteristics without reproducing training images. Proactive dataset-use auditing plants a shared signal in a dataset before release, then later checks whether that signal appears in a suspect model's generated outputs. Existing approaches often trade off verifiability, fidelity, robustness, and deployability. We introduce $\textbf{SpectralCanary}$, which uses a smooth low-pass mask to blend a fixed canary image into every collection image while leaving captions unchanged and requiring neither auxiliary generation nor per-image optimization. A lightweight verifier detects the transferred signal in suspect-model outputs. Across eight tests on the Pokemon dataset and three realistic data transformations, spanning two architectures families, SpectralCanary achieves the highest average per-generation TPR@$1\%$ FPR ($91.1\%$) and fixed threshold model-level accuracy using 30 generations ($94.8\%$) among the evaluated methods. Across five datasets spanning artistic, medical, satellite, and fashion domains with SD3.5, SpectralCanary averages $92.4\%$ per-generation TPR@$1\%$ FPR while preserving the released images (SSIM $0.989$, LPIPS $0.022$) with a near-zero mean change FID (mean $Δ$FID $0.05$) across datasets. Matched-energy ablations on Pokemon and ROCOv2 support our design choice, low-frequency placement transfers more reliably compared to mid/high-frequency placement. Under the evaluated adaptive attacks, the most effective removal requires aggressive modification and incurs more than $25$ $Δ$FID points. These results identify low-frequency visual signals as effective carriers for collection-level T2I audit traces.