arXiv subjects

Haebeom Jung

Publications and source records attributed to Haebeom Jung.

3 recordsLinked to original sources

arXiv2026

Articulated Object Reconstruction from Rest-State Observation

Building interactive digital twins requires recovering both 3D geometry and the kinematic structures that govern how objects articulate. Yet existing methods for articulated object reconstruction require explicitly observable motion from multiple articulation states. We introduce a rest-state formulation that reconstructs articulated objects from a single closed configuration, an inherently ill-posed setting where geometry, semantics, and motion priors compensate for the absence of motion cues. Our framework adopts an explicit mesh as an intermediate representation for cross-model verification and fusion, reconciling noisy outputs from vision-language and segmentation models into spatially consistent part structures. To estimate joint parameters without observed motion, we use a video diffusion model to synthesize articulation hypotheses and validate them through geometric consistency. Our approach achieves accurate part decomposition and physically plausible articulation, performing competitively with motion-observing reconstruction-based, generation-based, and modular pretrained-model baselines.

cs.CV↗

arXiv2025

Metropolis-Hastings Sampling for 3D Gaussian Reconstruction

We propose an adaptive sampling framework for 3D Gaussian Splatting (3DGS) that leverages comprehensive multi-view photometric error signals within a unified Metropolis-Hastings approach. Vanilla 3DGS heavily relies on heuristic-based density-control mechanisms (e.g., cloning, splitting, and pruning), which can lead to redundant computations or premature removal of beneficial Gaussians. Our framework overcomes these limitations by reformulating densification and pruning as a probabilistic sampling process, dynamically inserting and relocating Gaussians based on aggregated multi-view errors and opacity scores. Guided by Bayesian acceptance tests derived from these error-based importance scores, our method substantially reduces reliance on heuristics, offers greater flexibility, and adaptively infers Gaussian distributions without requiring predefined scene complexity. Experiments on benchmark datasets, including Mip-NeRF360, Tanks and Temples and Deep Blending, show that our approach reduces the number of Gaussians needed, achieving faster convergence while matching or modestly surpassing the view-synthesis quality of state-of-the-art models.

cs.CV↗

arXiv2025

Targetless LiDAR-Camera Calibration with Neural Gaussian Splatting

Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade over time due to sensor drift or external disturbances, necessitating periodic recalibration. To address these challenges, we present a Targetless LiDAR-Camera Calibration (TLC-Calib) that jointly optimizes sensor poses with a neural Gaussian-based scene representation. Reliable LiDAR points are frozen as anchor Gaussians to preserve global structure, while auxiliary Gaussians prevent local overfitting under noisy initialization. Our fully differentiable pipeline with photometric and geometric regularization achieves robust and generalizable calibration, consistently outperforming existing targetless methods on the KITTI-360, Waymo, and Fast-LIVO2 datasets. In addition, it yields more consistent Novel View Synthesis results, reflecting improved extrinsic alignment. The project page is available at: https://www.haebeom.com/tlc-calib-site/.

cs.CV↗