Related papers: 3DRP-Net: 3D Relative Position-aware Network for 3…

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…

3D referring expression comprehension (3DREC) and segmentation (3DRES) have overlapping objectives, indicating their potential for collaboration. However, existing collaborative approaches predominantly depend on the results of one task to…

Visual grounding aims to localize the object referred to in an image based on a natural language query. Although progress has been made recently, accurately localizing target objects within multiple-instance distractions (multiple objects…

3D visual grounding aims to identify and localize objects in a 3D space based on textual descriptions. However, existing methods struggle with disentangling targets from anchors in complex multi-anchor queries and resolving inconsistencies…

3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage paradigm, i.e., language-irrelevant detection and cross-modal…

Seemingly simple natural language requests to a robot are generally underspecified, for example "Can you bring me the wireless mouse?" Flat images of candidate mice may not provide the discriminative information needed for "wireless." The…

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…

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…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

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 task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

3D visual grounding consists of identifying the instance in a 3D scene which is referred by an accompanying language description. While several architectures have been proposed within the commonly employed grounding-by-selection framework,…

To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…

3D visual grounding aims to automatically locate the 3D region of the specified object given the corresponding textual description. Existing works fail to distinguish similar objects especially when multiple referred objects are involved in…

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…

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on textual descriptions, essential for applications like augmented reality and robotics. Traditional 3DVG approaches rely on annotated 3D datasets and predefined object…

Exploring fine-grained relationship between entities(e.g. objects in image or words in sentence) has great contribution to understand multimedia content precisely. Previous attention mechanism employed in image-text matching either takes…

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…