Related papers: OVIR-3D: Open-Vocabulary 3D Instance Retrieval Wit…
Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud…
We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…
Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM),…
We introduce the task of open-vocabulary visual instance search (OVIS). Given an arbitrary textual search query, Open-vocabulary Visual Instance Search (OVIS) aims to return a ranked list of visual instances, i.e., image patches, that…
Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…
An object detector's ability to detect and flag \textit{novel} objects during open-world deployments is critical for many real-world applications. Unfortunately, much of the work in open object detection today is disjointed and fails to…
The goal of this paper is open-vocabulary object detection (OVOD) $\unicode{x2013}$ building a model that can detect objects beyond the set of categories seen at training, thus enabling the user to specify categories of interest at…
Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…
Open-vocabulary 3D object detection for autonomous driving aims to detect novel objects beyond the predefined training label sets in point cloud scenes. Existing approaches achieve this by connecting traditional 3D object detectors with…
In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…
Open-Vocab 3D Instance Segmentation methods (OV-3DIS) have recently demonstrated their ability to generalize to unseen objects. However, these methods still depend on predefined class names during testing, restricting the autonomy of…
Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…
Open-Vocabulary Segmentation (OVS) methods offer promising capabilities in detecting unseen object categories, but the category must be known and needs to be provided by a human, either via a text prompt or pre-labeled datasets, thus…
The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most…
Open-vocabulary 3D object detection (OV-3Det) aims to generalize beyond the limited number of base categories labeled during the training phase. The biggest bottleneck is the scarcity of annotated 3D data, whereas 2D image datasets are…
Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…
We present Ov3R, a novel framework for open-vocabulary semantic 3D reconstruction from RGB video streams, designed to advance Spatial AI. The system features two key components: CLIP3R, a CLIP-informed 3D reconstruction module that predicts…
Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…
This paper addresses the challenging problem of open-vocabulary object detection (OVOD) where an object detector must identify both seen and unseen classes in test images without labeled examples of the unseen classes in training. A typical…
We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…