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Computer vision

Explore arXiv computer-vision papers and cs.CV metadata. Search within the index for image segmentation, object detection and visual representation learning.

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arXiv2026

BikeScenes: LiDAR Semantic Segmentation for Bicycles

The vulnerability of cyclists, exacerbated by the rising popularity of faster e-bikes, motivates adapting automotive perception technologies for bicycle safety. We use our multi-sensor SenseBike research platform to study 3D LiDAR semantic segmentation for bicycles. We introduce the novel BikeScenes-lidarseg Dataset, comprising 3021 consecutive LiDAR scans around the university campus of the TU Delft, semantically annotated for 29 dynamic and static classes. As an initial baseline study, we evaluate how a SemanticKITTI pre-trained FRNet model transfers to this bicycle-mounted solid-state LiDAR setting. Fine-tuning on BikeScenes increases mean Intersection-over-Union (mIoU) from 13.8% to 63.6% on our held-out subsequences. These results show the practical value of in-domain data for this platform, while also highlighting the need for larger bicycle datasets. We contribute BikeScenes as a resource for advancing research in cyclist-centric perception.

cs.CV↗

arXiv2026

Using Channel Representations in Regularization Terms: A Case Study on Image Diffusion

In this work we propose a novel non-linear diffusion filtering approach for images based on their channel representation. To derive the diffusion update scheme we formulate a novel energy functional using a soft-histogram representation of image pixel neighborhoods obtained from the channel encoding. The resulting Euler-Lagrange equation yields a non-linear robust diffusion scheme with additional weighting terms stemming from the channel representation which steer the diffusion process. We apply this novel energy formulation to image reconstruction problems, showing good performance in the presence of mixtures of Gaussian and impulse-like noise, e.g. missing data. In denoising experiments of common scalar-valued images our approach performs competitive compared to other diffusion schemes as well as state-of-the-art denoising methods for the considered noise types.

cs.CV↗

arXiv2026

Residual Kalman Dynamics for Event-Based UAV Forecasting

We study short- and mid-horizon UAV bounding-box forecasting on the FRED event-camera dataset. We use a constant-velocity Kalman filter over a full center-size box state as a strong physical baseline, and train a residual model to predict acceleration-like corrections from recent box history, filtered state features, and local event representations. This simple residual formulation consistently improves over the Kalman baseline, with event-conditioned models giving the strongest results among the evaluated methods. We further show that part of the residual target is predictable from anchor position and velocity alone, indicating that canonical FRED results can reflect both visual evidence and dataset-specific motion priors. To analyze this effect, we introduce decorrelated subsets as a diagnostic stress test, showing that event-conditioned residual models retain useful predictive signal even when measured position- and velocity-based shortcuts are weakened.

cs.CV↗

arXiv2026

Climate Physics Dynamic Matching

Deep generative models such as flow matching and diffusion models have shown potential for learning complex dynamical systems, but typically act as black boxes that neglect underlying physical structure, while physics-based models governed by partial differential equations are often incomplete due to missing source terms, or uncertain parametrisations. We present Climate Physics Dynamic Matching (ClimPhyDM), a variational simulation-free dynamics informed framework for weather forecasting that combines an advection-type physics prior with data-driven components in a variational framework. % to capture the stochasticity and multi-modality of unresolved atmospheric dynamics. On the ERA5 benchmark at hourly (42-hour) and monthly (5-month) resolutions, ClimPhyDM outperforms ClimODE, and GB-DM, keeping the lower error at extended horizon, indicating improved temporal stability and resistance to error accumulation, while its simulation-free paradigm also enables training on a single modest 12 GB consumer GPU.

stat.AP↗

arXiv2026

Thread-Efficient Decoding for Neural Texture Compression

Neural texture compression (NTC) achieves higher compression ratios than BCn formats but suffers from GPU thread divergence, which significantly reduces runtime performance. In this work, we propose a shared decoder MLP architecture -- trained with a gradual decoder freezing schedule -- combined with texture clustering to reduce thread divergence by 25%-52% while preserving rendering quality. We evaluate our method on over 500 textures and multiple real rendering scenes, demonstrating up to 8.48x speedup on the Radeon RX 9070 XT GPU compared to non-shared baselines. Our key contributions include: (1) a unified shared decoder architecture that reduces divergence by grouping textures; (2) a training recipe with gradual decoder freezing that improves stability and reconstruction accuracy; (3) a semantic clustering strategy using CLIP embeddings that groups similar textures for effective decoder sharing; and (4) comprehensive performance and ablation studies validating our approach.

cs.CV↗

arXiv2026

Dynamic Alignment Compensation for Hallucination Mitigation in Large Vision-Language Models

Large Vision-Language Models (LVLMs) remain prone to hallucinations, producing responses that are irrelevant or inconsistent with the multimodal input. Existing mitigation methods mainly rely on external supervision, output calibration, or attention regulation, leaving the internal representation dynamics of autoregressive generation underexplored. We identify an inference-time failure mode in which cross-modal representations degrade across decoder layers and drift across generation steps, destabilizing token prediction and increasing hallucination risk. We propose \emph{Dynamic Alignment Compensation} (DAC), a training-free inference-time method that detects representation divergence and selectively applies lightweight residual compensation. DAC combines Layer-wise Semantic Compensation to mitigate inter-layer degradation with Sequential Semantic Correction to constrain temporal drift. Experiments on nine hallucination-focused and general-purpose multimodal benchmarks across multiple LVLM backbones show that DAC consistently reduces hallucinations while maintaining strong overall performance.

cs.CV↗

arXiv2026

Beyond the Image Plane: World-Grounded Queries for Multi-Object Tracking

Monocular videos record 3D scenes as sequences of 2D image-plane projections, obscuring depth and spatial relationships. Multi-object trackers localize and associate objects primarily using appearance and geometry observed only in the image plane, inheriting these ambiguities. To address this limitation, we introduce PLANET, an end-to-end multi-object tracker designed to move beyond the image plane. As an enabling step, we lift existing 2D tracking datasets into 3D. We then form world-grounded queries by embedding reconstructed 3D scene geometry into the features and positional encodings used during query formation. An auxiliary 3D location prediction task further encourages the queries to encode object positions during training. A complementary dual-resolution temporal memory preserves this evidence across longer temporal gaps. As a result, PLANET achieves state-of-the-art performance across three diverse benchmarks.

cs.CV↗

arXiv2026

Measuring Similarity between Artistic and AI Generated Images using Siamese Neural Networks

AI-generated art has sparked debates around potential plagiarism, as these images may closely resemble existing artworks. This research quantifies the similarity between original pieces and AI-generated counterparts, particularly those produced by the Stable Diffusion XL Refiner 1.0. We use Siamese Networks with frozen CLIP encoders and cosine similarity optimized through triplet loss. A dataset of paired original and generated images was built using image-to-image generation and custom prompts, enriched with semantic descriptors and BLIP-2 captions. Prior studies report up to 81\% style replication and 90\% visual similarity. Our results show high discriminative performance: training accuracy reached 99.9\%, and the best model configuration achieved 99.4\% test accuracy with strong inter-class separation ($δμ$ = 0.677), demonstrating the effectiveness of our semantic-visual embeddings.

cs.CV↗

arXiv2026

Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition

Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it challenging to recognize features for navigation, recognition, or reconstruction. To address this challenge, we propose using two different sonar modalities: one that produces a 2D intensity image and another that generates a 3D point cloud. By implementing auto-calibration, we can filter out noisy features between the modalities to enhance feature extraction. Experiments demonstrate that auto-calibration improves performance over manual calibration by 5% and that filtering enhances feature extraction by more than 40% relative to the raw point cloud. Code and datasets are given at https://theaprilab.org/fls-3d-calibrator

cs.CV↗

arXiv2026

When 3D Gaussian Splatting Recovers Real Surfaces

When does 3D Gaussian Splatting (3DGS) recover the true scene surface rather than just overfitting view-dependent appearance? We answer this by developing a mathematical framework based on a first-hit rendering abstraction that cleanly isolates geometry from appearance. We prove that geometric misalignment forcefully converts spatial textures into high-frequency angular signals via parallax. This establishes a strict identifiability window: if angular capacity is bounded, surface-consistent solutions are mathematically preferred; if unrestricted, the same images can be perfectly explained by an incorrect, opaque billboard geometry. Experiments on synthetic stress tests confirm this prediction, showing billboard failures emerge precisely at high angular capacities. Conversely, in the real-world datasets we evaluate under standard capture protocols, reconstructions remain surface-consistent even at high SH degrees, which is consistent with the prediction that rich spatial texture can push billboard solutions outside the tested angular-capacity range.

cs.LG↗

arXiv2026

Amortized Anchor Refinement for Deployable Continuous-Time 4D Gaussian Reconstruction

Continuous-time 4D reconstruction remains impractical on standalone XR headsets. Per-scene optimization demands deployment-infeasible compute, and lower budgets cause collapse rather than degrade gradually. Feed-forward prediction is fast, but struggle to recover scene-specific detail. We present Amortized Anchor Refinement, which uses a frozen backbone to predict an initial Gaussian representation and a short optimization to specialize it under a fixed compute budget, with a capacity floor preserving representational density. A training-free stage then applies a persistent-homology constraint to prune unstable Gaussians while preserving topologically persistent structures, and streams the resulting trajectories directly as scene flow. On the Stage-Capture benchmark, Amortized Anchor Refinement achieves 24.31$\pm$2.22dB, while our deployment experiments demonstrate reconstruction within the target budget on a single consumer GPU and playback on a standalone XR headset.

cs.CV↗

arXiv2026

Stain-Aware Wavelet Regularization for Instant Adversarial Purification in Histopathology

Deep learning has become prevalent in computational pathology pipelines that support tasks such as cancer screening and digital pathology analysis. However, the susceptibility of neural networks to adversarial perturbations raises safety concerns for reliable deployment in clinical practice. In histopathological images, this challenge is exacerbated by the difficulty of distinguishing high-frequency adversarial noise from subtle and diagnostically relevant tissue structures. To address this issue, we propose Stain-Aware Wavelet Regularization (SAWR), an adversarial purification framework that leverages multi-level wavelet-domain regularization based on Haar transform to hierarchically disentangle adversarial perturbations from diagnostic structural information. This spectral constraint is further extended to individual histological channels, enabling stain-specific frequency regulation consistent with the biological properties of Hematoxylin and Eosin. Extensive experiments demonstrate that SAWR improves adversarial robustness by up to 10.69\% over the baseline approach, while maintaining texture and spectral fidelity under adversarial perturbations.

cs.CV↗

arXiv2026

Motion-Saliency Complementary Masked Modeling for Point Cloud Video Understanding

Point cloud video representation learning is crucial for 3D dynamic scene understanding. In this paper, we propose MoSaiC, a novel Motion-Saliency Complementary masked modeling framework for self-supervised point cloud video representation learning. MoSaiC couples three components: Curriculum Motion-Saliency Masking (CMSM), which guides the masking process toward motion-salient tokens under a curriculum schedule; Normal-Flow Motion (NFM) modeling, which supervises the local rigid rotation of each token in the Lie algebra so(3) as an explicit geometric motion target; and Cross-view Token Consistency Prediction (CTCP), which enforces consistency between two complementary masked views at the token level. Together, these components allow MoSaiC to effectively capture both appearance and motion dynamics. Extensive experiments on multiple downstream tasks, including action recognition, temporal action segmentation, and point-level semantic segmentation, demonstrate the effectiveness of our approach.

cs.CV↗

arXiv2026

Seeing the Unseen: Camouflaged Object Detection Beyond the Visible Spectrum

Recent advances in camouflaged object detection (COD) have led to substantial progress in challenging low-visibility scenarios, with pioneering studies demonstrating notable success in localizing objects in camouflaged scenes. Despite these achievements, existing approaches predominantly rely on conventional three-channel RGB imagery, thereby constraining the available visual information to a limited spectral range. Multispectral images offer a wide range of information about a scene by capturing fine-grained spectral signatures. Hence, by leveraging multispectral images for COD, we introduce a novel approach to detect camouflaged objects from the corresponding multispectral inputs. In particular, we propose an end-to-end framework, \textbf{\textit{MSFormer}}, that takes a multispectral camouflaged image as input and predicts a binary mask for it. Additionally, we also provide empirical justification for integrating multispectral bands for this complex low-vision task. Our extensive experiments demonstrate the effectiveness of our method, which outperforms existing methods.

cs.CV↗

arXiv2026

Improved monocular depth prediction using distance transform over pre-semantic contours with self-supervised neural networks

Monocular depth estimation (MDE) with self-supervised training approaches struggles in low-texture areas, where photometric losses may lead to ambiguous depth predictions. To address this, we propose a novel technique that enhances spatial information by applying a distance transform over pre-semantic contours, augmenting discriminative power in low texture regions. Our approach jointly estimates pre-semantic contours, depth and ego-motion. The pre-semantic contours are leveraged to produce new input images, with variance augmented by the distance transform in uniform areas. This approach results in more effective loss functions, enhancing the training process for depth and ego-motion. We demonstrate theoretically that the distance transform is the optimal variance-augmenting technique in this context. Through extensive experiments on KITTI, Cityscapes, Waymo, NYUv2 and ScanNet our model demonstrates robust performance, surpassing competing self-supervised methods in MDE.

cs.CV↗

arXiv2026

Bayesian-Optimized Superpixel-GrabCut for Traceable Optic Disc Segmentation

Optic disc (OD) segmentation is essential for diagnosing ophthalmic pathologies from retinal fundus images. However, prevailing deep learning approaches operate as opaque black boxes, lacking the inference-stage mathematical traceability--a critical requirement for algorithmic auditing and failure analysis in clinical workflows. This paper presents a fully algorithmically traceable and trainable segmentation pipeline that jointly combines superpixel decomposition, hybrid brightness-proximity superpixel scoring, morphological regularization, iterative GrabCut refinement, and elliptical shape fitting. The hyperparameter optimization is formulated as an objective function and solved via Bayesian optimization to eliminate manual parameter tuning. A quantitative evaluation on the Drishti-GS dataset demonstrates that our method achieves a Dice coefficient of 0.9536, matching state-of-the-art performance. By maintaining explicit mathematical transparency across all processing stages, our framework offers a deterministic, traceable alternative to black-box architectures for medical review and debugging.

cs.CV↗

arXiv2026

CANVAS: Consistency-Aware Navigation via Visual Adaptive Sampling for Long-Context Text-to-SVG Generation

Autoregressive large models have recently advanced Text-to-SVG generation from simple icons to complex, long-context graphics, yet standard autoregressive decoding often fails to maintain global consistency across geometry, layout, occlusion, and composition. We introduce CANVAS (Consistency-Aware Navigation via Visual Adaptive Sampling), a training-free, render-aware inference framework that combines power-sharpened trajectory likelihood with visual feedback from rendered futures and derives a stroke-wise navigation rule. It effectively estimates each candidate stroke's future value under a limited generation and rendering budget and adaptively allocates samples according to candidate uncertainty, decision influence, and rollout cost. Experiments across multiple autoregressive SVG backbones and complementary benchmarks demonstrate improvements in global consistency, which includes sound geometric relationships, spatial layouts, occlusion ordering, and overall composition, without additional training, demonstrating the effectiveness and generalization ability of our framework.

cs.CV↗

arXiv2026

TUE-Detector: A Tool-Using Expert MLLM-Based Detector for AI-Generated Videos

AI-generated video detection, which aims to distinguish AI-generated videos from real ones, has recently received increasing research attention. To perform this task reliably, a key challenge lies in accurately identifying subtle-yet-measurable unnatural artifacts. In this work, we address this challenge from a novel perspective of tool-mediated evidence discovery and propose Tool-Using Expert MLLM-based AI-generated Video Detector (TUE-Detector), a novel framework for AI-generated video detection. TUE-Detector trains a general MLLM into a task-tailored tool-using expert detector that learns to invoke suitable tools, collect concrete evidence of unnaturalness, and reason over the evidence for reliable detection. Meanwhile, TUE-Detector further introduces novel designs to equip the expert detector with high-quality and suitable tools. Extensive experiments demonstrate the effectiveness of our framework.

cs.CV↗