Related papers: Joint 2D-3D-Semantic Data for Indoor Scene Underst…

There has been a growing adoption of computer vision tools and technologies in architectural design workflows over the past decade. Notable use cases include point cloud generation, visual content analysis, and spatial awareness for robotic…

RGB-D data is essential for solving many problems in computer vision. Hundreds of public RGB-D datasets containing various scenes, such as indoor, outdoor, aerial, driving, and medical, have been proposed. These datasets are useful for…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity,…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

While there are several widely used object detection datasets, current computer vision algorithms are still limited in conventional images. Such images narrow our vision in a restricted region. On the other hand, 360{\deg} images provide a…

This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes,…

We present the Habitat-Matterport 3D Semantics (HM3DSEM) dataset. HM3DSEM is the largest dataset of 3D real-world spaces with densely annotated semantics that is currently available to the academic community. It consists of 142,646 object…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University…

Recent advances of 3D acquisition devices have enabled large-scale acquisition of 3D scene data. Such data, if completely and well annotated, can serve as useful ingredients for a wide spectrum of computer vision and graphics works such as…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…