Related papers: On Support Relations Inference and Scene Hierarchy…
A major challenge in scene graph classification is that the appearance of objects and relations can be significantly different from one image to another. Previous works have addressed this by relational reasoning over all objects in an…
Understanding a visual scene incorporates objects, relationships, and context. Traditional methods working on an image mostly focus on object detection and fail to capture the relationship between the objects. Relationships can give rich…
RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…
Object shape is a key cue that contributes to the semantic understanding of objects. In this work we focus on the categorization of real-world object point clouds to particular shape types. Therein surface description and representation of…
Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…
We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…
Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…
The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…
Understanding physical relations between objects, especially their support relations, is crucial for robotic manipulation. There has been work on reasoning about support relations and structural stability of simple configurations in RGB-D…
Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…
In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…
Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…
Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…
Scene graph aims to faithfully reveal humans' perception of image content. When humans analyze a scene, they usually prefer to describe image gist first, namely major objects and key relations in a scene graph. This humans' inherent…
Context is important for accurate visual recognition. In this work we propose an object detection algorithm that not only considers object visual appearance, but also makes use of two kinds of context including scene contextual information…
Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
As a structured representation of the image content, the visual scene graph (visual relationship) acts as a bridge between computer vision and natural language processing. Existing models on the scene graph generation task notoriously…
In this paper, we study the problem of parsing structured knowledge graphs from textual descriptions. In particular, we consider the scene graph representation that considers objects together with their attributes and relations: this…