Related papers: 3D-to-2D Distillation for Indoor Scene Parsing

Score distillation has emerged as one of the most prevalent approaches for text-to-3D asset synthesis. Essentially, score distillation updates 3D parameters by lifting and back-propagating scores averaged over different views. In this…

Semantic map construction under bird's-eye view (BEV) plays an essential role in autonomous driving. In contrast to camera image, LiDAR provides the accurate 3D observations to project the captured 3D features onto BEV space inherently.…

Scene flow describes the motion of 3D objects in real world and potentially could be the basis of a good feature for 3D action recognition. However, its use for action recognition, especially in the context of convolutional neural networks…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Standard Latent Diffusion Models rely on a complex, three-part architecture consisting of a separate encoder, decoder, and diffusion network, which are trained in multiple stages. This modular design is computationally inefficient, leads to…

Scene parsing from images is a fundamental yet challenging problem in visual content understanding. In this dense prediction task, the parsing model assigns every pixel to a categorical label, which requires the contextual information of…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

Estimating depth from a single RGB image is an ill-posed and inherently ambiguous problem. State-of-the-art deep learning methods can now estimate accurate 2D depth maps, but when the maps are projected into 3D, they lack local detail and…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

Collecting and labeling the registered 3D point cloud is costly. As a result, 3D resources for training are typically limited in quantity compared to the 2D images counterpart. In this work, we deal with the data scarcity challenge of 3D…

Generative adversarial networks (GANs) have shown significant potential in modeling high dimensional distributions of image data, especially on image-to-image translation tasks. However, due to the complexity of these tasks,…

Convolutional neural networks have been widely deployed in various application scenarios. In order to extend the applications' boundaries to some accuracy-crucial domains, researchers have been investigating approaches to boost accuracy…

Score distillation of 2D diffusion models has proven to be a powerful mechanism to guide 3D optimization, for example enabling text-based 3D generation or single-view reconstruction. A common limitation of existing score distillation…

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…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

Semantic scene completion, also known as semantic occupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Unfortunately,…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and…

Recent breakthroughs in text-to-image synthesis have been driven by diffusion models trained on billions of image-text pairs. Adapting this approach to 3D synthesis would require large-scale datasets of labeled 3D data and efficient…