Related papers: Semi-automatic conversion from OSG to CityGML
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…
Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…
Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…
Multi-modal Large Language Models (MLLMs) have gained significant attention in both academia and industry for their capabilities in handling multi-modal tasks. However, these models face challenges in mathematical geometric reasoning due to…
3D maps are increasingly useful for many applications such as drone navigation, emergency services, and urban planning. However, creating 3D maps and keeping them up-to-date using existing technologies, such as laser scanners, is expensive.…
As large language models (LLMs) continue to advance and gain widespread use, establishing systematic and reliable evaluation methodologies for LLMs and vision-language models (VLMs) has become essential to ensure their real-world…
The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making…
In this document, we introduce a system model as a semantic domain for the Unified Modeling Language (UML) [OMG07a, OMG07b]. The system model is supposed to form a possible core and foundation of the UML semantics definition. For that…
In this paper we present a practical approach for generating an occlusion-free textured 3D map of urban facades by the synergistic use of terrestrial images, 3D point clouds and area-based information. Particularly in dense urban…
Building accurate and interpretable Machine Learning (ML) models for heterogeneous/mixed data is a long-standing challenge for algorithms designed for numeric data. This work focuses on developing numeric coding schemes for non-numeric…
Visibility analysis in urban planning has traditionally relied on line-of-sight (LoS) simulations, which capture geometric occlusion. However, these approaches depend on accurate 3D data that is often unavailable and may not adequately…
Creating interactive digital environments for gaming, robotics, and simulation relies on articulated 3D objects whose functionality emerges from their part geometry and kinematic structure. However, existing approaches remain fundamentally…
Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point…
Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…
City models and height maps of urban areas serve as a valuable data source for numerous applications, such as disaster management or city planning. While this information is not globally available, it can be substituted by digital surface…
High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…
This paper presents a SysML-based approach to enhance functional and software development process within an industrial context. The recent changes in technology such as electromobility and increased automation in heavy construction…
Dynamic scenes contain intricate spatio-temporal information, crucial for mobile robots, UAVs, and autonomous driving systems to make informed decisions. Parsing these scenes into semantic triplets <Subject-Predicate-Object> for accurate…
Reconstructing semantic 3D building models at the level of detail (LoD) 3 is a long-standing challenge. Unlike mesh-based models, they require watertight geometry and object-wise semantics at the fa\c{c}ade level. The principal challenge of…