Related papers: Intent3D: 3D Object Detection in RGB-D Scans Based…
Open-vocabulary 3D visual grounding and reasoning aim to localize objects in a scene based on implicit language descriptions, even when they are occluded. This ability is crucial for tasks such as vision-language navigation and autonomous…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…
3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…
A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…
Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…
Human teams exhibit both implicit and explicit intention sharing. To further development of human-robot collaboration, intention recognition is crucial on both sides. Present approaches rely on a vast sensor suite on and around the robot to…
Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…
Recent progress in 3D scene understanding has explored visual grounding (3DVG) to localize a target object through a language description. However, existing methods only consider the dependency between the entire sentence and the target…
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…
Learning 3D human-object interaction relation is pivotal to embodied AI and interaction modeling. Most existing methods approach the goal by learning to predict isolated interaction elements, e.g., human contact, object affordance, and…
Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…
Humans effortlessly infer the 3D shape of objects. What computations underlie this ability? Although various computational models have been proposed, none of them capture the human ability to match object shape across viewpoints. Here, we…
Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…
The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of…
Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…
Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…
Spatial reasoning is an important component of human intelligence. We can imagine the shapes of 3D objects and reason about their spatial relations by merely looking at their three-view line drawings in 2D, with different levels of…
For machines to effectively assist humans in challenging visual search tasks, they must differentiate whether a human is simply glancing into a scene (navigational intent) or searching for a target object (informational intent). Previous…
This paper presents a novel masked attention-based 3D Gaussian Splatting (3DGS) approach to enhance robotic perception and object detection in industrial and smart factory environments. U2-Net is employed for background removal to isolate…