Related papers: WildRefer: 3D Object Localization in Large-scale D…
3D visual grounding aims to localize the object in 3D point cloud scenes that semantically corresponds to given natural language sentences. It is very critical for roadside infrastructure system to interpret natural languages and localize…
3D visual grounding (VG) aims to locate objects or regions within 3D scenes guided by natural language descriptions. While indoor 3D VG has advanced, outdoor 3D VG remains underexplored due to two challenges: (1) large-scale outdoor LiDAR…
We introduce the task of localizing a flexible number of objects in real-world 3D scenes using natural language descriptions. Existing 3D visual grounding tasks focus on localizing a unique object given a text description. However, such a…
3D visual grounding (3DVG), which aims to correlate a natural language description with the target object within a 3D scene, is a significant yet challenging task. Despite recent advancements in this domain, existing approaches commonly…
For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…
City-scale 3D point cloud is a promising way to express detailed and complicated outdoor structures. It encompasses both the appearance and geometry features of segmented city components, including cars, streets, and buildings, that can be…
Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding…
Understanding 3D scenes from multi-view inputs has been proven to alleviate the view discrepancy issue in 3D visual grounding. However, existing methods normally neglect the view cues embedded in the text modality and fail to weigh the…
We introduce the task of 3D object localization in RGB-D scans using natural language descriptions. As input, we assume a point cloud of a scanned 3D scene along with a free-form description of a specified target object. To address this…
3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…
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…
Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…
3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…
This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…
3D visual grounding aims to identify the target object within a 3D point cloud scene referred to by a natural language description. Previous works usually require significant data relating to point color and their descriptions to exploit…
The 3D visual grounding task has been explored with visual and language streams comprehending referential language to identify target objects in 3D scenes. However, most existing methods devote the visual stream to capturing the 3D visual…
Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments. However, such annotated datasets are also needed for…
Understanding natural-language references to objects in dynamic 3D driving scenes is essential for interactive autonomous systems. In practice, many referring expressions describe targets through recent motion or short-term interactions,…
Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to…
Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…