{"id":"https://openalex.org/W4413917383","doi":"https://doi.org/10.1109/icra55743.2025.11128258","title":"EPRecon: An Efficient Framework for Real-Time Panoptic 3D Reconstruction from Monocular Video","display_name":"EPRecon: An Efficient Framework for Real-Time Panoptic 3D Reconstruction from Monocular Video","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917383","doi":"https://doi.org/10.1109/icra55743.2025.11128258"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100636124","display_name":"Zhen Zhou","orcid":"https://orcid.org/0000-0002-7371-2100"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Zhou","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037158221","display_name":"Yunkai Ma","orcid":"https://orcid.org/0000-0002-7667-1631"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunkai Ma","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101319227","display_name":"Junfeng Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junfeng Fan","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080004695","display_name":"Shaolin Zhang","orcid":"https://orcid.org/0000-0002-2259-7704"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaolin Zhang","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069035006","display_name":"Fengshui Jing","orcid":"https://orcid.org/0000-0002-3827-8089"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengshui Jing","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":null,"display_name":"Min Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation,State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences,Beijing,China,100190","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.864,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79534061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2026","last_page":"2033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11408","display_name":"Advanced Optical Imaging Technologies","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11408","display_name":"Advanced Optical Imaging Technologies","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13579","display_name":"Image and Video Stabilization","score":0.9639999866485596,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9631999731063843,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7473090291023254},{"id":"https://openalex.org/keywords/panopticon","display_name":"Panopticon","score":0.7237472534179688},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.626252293586731},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5934033393859863},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.5213462114334106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5158933401107788},{"id":"https://openalex.org/keywords/sociology","display_name":"Sociology","score":0.04940250515937805}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7473090291023254},{"id":"https://openalex.org/C138569888","wikidata":"https://www.wikidata.org/wiki/Q828310","display_name":"Panopticon","level":3,"score":0.7237472534179688},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.626252293586731},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5934033393859863},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.5213462114334106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5158933401107788},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.04940250515937805},{"id":"https://openalex.org/C2780430339","wikidata":"https://www.wikidata.org/wiki/Q10861465","display_name":"Brother","level":2,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G200310394","display_name":null,"funder_award_id":"62173327,62373354","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6077211788","display_name":null,"funder_award_id":"4232057","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2769312834","https://openalex.org/W2788158258","https://openalex.org/W2795014656","https://openalex.org/W2926429807","https://openalex.org/W2955488403","https://openalex.org/W2959771705","https://openalex.org/W2962759414","https://openalex.org/W2962793285","https://openalex.org/W2962914239","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W2964009301","https://openalex.org/W2983954598","https://openalex.org/W3004300126","https://openalex.org/W3034524082","https://openalex.org/W3034530552","https://openalex.org/W3035549667","https://openalex.org/W3043971245","https://openalex.org/W3109428934","https://openalex.org/W3117839341","https://openalex.org/W3172610252","https://openalex.org/W3176027594","https://openalex.org/W3192398360","https://openalex.org/W3193773166","https://openalex.org/W3207210614","https://openalex.org/W3207776935","https://openalex.org/W3215912778","https://openalex.org/W4221162708","https://openalex.org/W4226416753","https://openalex.org/W4233857083","https://openalex.org/W4312433568","https://openalex.org/W4312567638","https://openalex.org/W4312601813","https://openalex.org/W4312815172","https://openalex.org/W4312850715","https://openalex.org/W4315783786","https://openalex.org/W4321512561","https://openalex.org/W4375929103","https://openalex.org/W4382240251","https://openalex.org/W4383109105","https://openalex.org/W4383109324","https://openalex.org/W4386066358","https://openalex.org/W4386071703","https://openalex.org/W4389252802","https://openalex.org/W4389689604","https://openalex.org/W4390534514","https://openalex.org/W4390872491","https://openalex.org/W4390872638","https://openalex.org/W4390873309","https://openalex.org/W4390873929","https://openalex.org/W4390874108","https://openalex.org/W4390874620","https://openalex.org/W4401413704","https://openalex.org/W4401414900","https://openalex.org/W4402702938"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Panoptic":[0],"3D":[1,40,85,152],"reconstruction":[2,41,45,88,153],"from":[3,20,110],"a":[4,8,74,84],"monocular":[5],"video":[6],"is":[7,59,159],"fundamental":[9],"perceptual":[10],"task":[11],"in":[12,22,83,147],"robotic":[13],"scene":[14,55,66,80],"understanding.":[15],"However,":[16],"existing":[17,102],"efforts":[18],"suffer":[19],"inefficiency":[21],"terms":[23,148],"of":[24,95,141,149],"inference":[25],"speed":[26],"and":[27,61,114,121,126,155],"accuracy,":[28],"limiting":[29],"their":[30],"practical":[31],"applicability.":[32],"We":[33],"present":[34],"EPRecon,":[35],"an":[36],"efficient":[37],"real-time":[38,65,156],"panoptic":[39,103,108,151],"framework.":[42],"Current":[43],"volumetric-based":[44],"methods":[46,146],"usually":[47],"utilize":[48],"multi-view":[49],"depth":[50,56,81],"map":[51],"fusion":[52],"to":[53,64,77],"obtain":[54],"priors,":[57],"which":[58],"time-consuming":[60],"poses":[62],"challenges":[63],"reconstruction.":[67],"To":[68],"address":[69],"this":[70],"issue,":[71],"we":[72],"propose":[73],"lightweight":[75],"module":[76],"directly":[78],"estimate":[79],"priors":[82],"volume":[86],"for":[87],"quality":[89,154],"improvement":[90],"by":[91],"generating":[92],"occupancy":[93],"probabilities":[94],"all":[96],"voxels.":[97],"In":[98],"addition,":[99],"compared":[100],"with":[101],"segmentation":[104,130],"methods,":[105],"EPRecon":[106,142],"extracts":[107],"features":[109,113],"both":[111,150],"voxel":[112],"corresponding":[115],"image":[116],"features,":[117],"obtaining":[118],"more":[119,128],"detailed":[120],"comprehensive":[122],"instance-level":[123],"semantic":[124],"information":[125],"achieving":[127],"accurate":[129],"results.":[131],"Experimental":[132],"results":[133],"on":[134],"the":[135,139],"ScanNet":[136],"V2dataset":[137],"demonstrate":[138],"superiority":[140],"over":[143],"current":[144],"state-of-the-art":[145],"inference.":[157],"Code":[158],"available":[160],"at":[161],"https://github.com/zhen6618/EPRecon.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}