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In this study, we present IL3D, a large-scale dataset meticulously designed for large language model (LLM)-driven 3D scene generation, addressing the pressing demand for diverse, high-quality training data in indoor layout design.…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Indoor scene generation has attracted significant attention recently as it is crucial for applications of gaming, virtual reality, and interior design. Current indoor scene generation methods can produce reasonable room layouts but often…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset…

We present a novel task for cross-dataset visual grounding in 3D scenes (Cross3DVG), which overcomes limitations of existing 3D visual grounding models, specifically their restricted 3D resources and consequent tendencies of overfitting a…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

Creating high-fidelity 3D models of indoor environments is essential for applications in design, virtual reality, and robotics. However, manual 3D modeling remains time-consuming and labor-intensive. While recent advances in generative AI…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

Addressing the critical theme of recycling electronic waste (E-waste), this contribution is dedicated to developing advanced automated data processing pipelines as a basis for decision-making and process control. Aligning with the broader…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the…

Object-centric architectures can learn to extract distinct object representations from visual scenes, enabling downstream applications on the object level. Similarly to autoencoder-based image models, object-centric approaches have been…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Navigating large-scale outdoor environments requires complex reasoning in terms of geometric structures, environmental semantics, and terrain characteristics, which are typically captured by onboard sensors such as LiDAR and cameras. While…

We present SPSG, a novel approach to generate high-quality, colored 3D models of scenes from RGB-D scan observations by learning to infer unobserved scene geometry and color in a self-supervised fashion. Our self-supervised approach learns…