Related papers: GOV-NeSF: Generalizable Open-Vocabulary Neural Sem…
3D scene segmentation based on neural implicit representation has emerged recently with the advantage of training only on 2D supervision. However, existing approaches still requires expensive per-scene optimization that prohibits…
Understanding open-vocabulary 3D scenes with Gaussian-based representations remains challenging due to fragmented and spatially inconsistent semantic predictions across multi-view observations. In this paper, we present OpenGaFF, a novel…
We present NeSF, a method for producing 3D semantic fields from posed RGB images alone. In place of classical 3D representations, our method builds on recent work in implicit neural scene representations wherein 3D structure is captured by…
The development of Neural Radiance Fields (NeRFs) has provided a potent representation for encapsulating the geometric and appearance characteristics of 3D scenes. Enhancing the capabilities of NeRFs in open-vocabulary 3D semantic…
Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…
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…
In this paper, we address the challenge of decomposing Neural Radiance Fields (NeRF) into objects from an open vocabulary, a critical task for object manipulation in 3D reconstruction and view synthesis. Current techniques for NeRF…
Utilizing multi-view inputs to synthesize novel-view images, Neural Radiance Fields (NeRF) have emerged as a popular research topic in 3D vision. In this work, we introduce a Generalizable Semantic Neural Radiance Field (GSNeRF), which…
In recent years, there has been a surge of interest in open-vocabulary 3D scene reconstruction facilitated by visual language models (VLMs), which showcase remarkable capabilities in open-set retrieval. However, existing methods face some…
Existing open-vocabulary 3D semantic segmentation methods typically supervise 3D segmentation models by merging text-aligned features (e.g., CLIP) extracted from multi-view images onto 3D points. However, such approaches treat multi-view…
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires capturing intricate geometry while understanding fine-grained…
Generalizable NeRF aims to synthesize novel views for unseen scenes. Common practices involve constructing variance-based cost volumes for geometry reconstruction and encoding 3D descriptors for decoding novel views. However, existing…
Precise 3D environmental mapping is pivotal in robotics. Existing methods often rely on predefined concepts during training or are time-intensive when generating semantic maps. This paper presents Open-Fusion, a groundbreaking approach for…
We introduce Generalizable 3D-Language Feature Fields (g3D-LF), a 3D representation model pre-trained on large-scale 3D-language dataset for embodied tasks. Our g3D-LF processes posed RGB-D images from agents to encode feature fields for:…
Understanding the 3D semantics of a scene is a fundamental problem for various scenarios such as embodied agents. While NeRFs and 3DGS excel at novel-view synthesis, previous methods for understanding their semantics have been limited to…
3D semantic segmentation provides high-level scene understanding for applications in robotics, autonomous systems, \textit{etc}. Traditional methods adapt exclusively to either task-specific goals (open-vocabulary segmentation) or scene…
Recent advancements in 3D scene understanding have made significant strides in enabling interaction with scenes using open-vocabulary queries, particularly for VR/AR and robotic applications. Nevertheless, existing methods are hindered by…
Open-vocabulary scene understanding using 3D Gaussian (3DGS) representations has garnered considerable attention. However, existing methods mostly lift knowledge from large 2D vision models into 3DGS on a scene-by-scene basis, restricting…
Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provided during runtime. In this paper, we propose to the best of…
This paper introduces a novel paradigm for the generalizable neural radiance field (NeRF). Previous generic NeRF methods combine multiview stereo techniques with image-based neural rendering for generalization, yielding impressive results,…