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We present a deformable prototypical part network (Deformable ProtoPNet), an interpretable image classifier that integrates the power of deep learning and the interpretability of case-based reasoning. This model classifies input images by…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

We present 3DMiner -- a pipeline for mining 3D shapes from challenging large-scale unannotated image datasets. Unlike other unsupervised 3D reconstruction methods, we assume that, within a large-enough dataset, there must exist images of…

Deep learning applied to the reconstruction of 3D shapes has seen growing interest. A popular approach to 3D reconstruction and generation in recent years has been the CNN encoder-decoder model usually applied in voxel space. However, this…

Recently, large language models (LLMs) have been explored widely for 3D scene understanding. Among them, training-free approaches are gaining attention for their flexibility and generalization over training-based methods. However, they…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

Earth observation is fundamental for a range of human activities including flood response as it offers vital information to decision makers. Semantic segmentation plays a key role in mapping the raw hyper-spectral data coming from the…

Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…

In this paper, we introduce an unsupervised learning approach to automatically discover, summarize, and manipulate artistic styles from large collections of paintings. Our method is based on archetypal analysis, which is an unsupervised…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Human-centric 3D scene understanding has recently drawn increasing attention, driven by its critical impact on robotics. However, human-centric real-life scenarios are extremely diverse and complicated, and humans have intricate motions and…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

We propose a method to learn 3D deformable object categories from raw single-view images, without external supervision. The method is based on an autoencoder that factors each input image into depth, albedo, viewpoint and illumination. In…

Humans perceive the 3D world as a set of distinct objects that are characterized by various low-level (geometry, reflectance) and high-level (connectivity, adjacency, symmetry) properties. Recent methods based on convolutional neural…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…