Related papers: Beyond Bare Queries: Open-Vocabulary Object Ground…
3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…
Dense captioning in 3D point clouds is an emerging vision-and-language task involving object-level 3D scene understanding. Apart from coarse semantic class prediction and bounding box regression as in traditional 3D object detection, 3D…
Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational…
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…
We introduce the task of dense captioning in 3D scans from commodity RGB-D sensors. As input, we assume a point cloud of a 3D scene; the expected output is the bounding boxes along with the descriptions for the underlying objects. To…
Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…
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…
Localizing 3D objects using natural language is essential for robotic scene understanding. The descriptions often involve multiple spatial relationships to distinguish similar objects, making 3D-language alignment difficult. Current methods…
3D visual grounding is the task of localizing the object in a 3D scene which is referred by a description in natural language. With a wide range of applications ranging from autonomous indoor robotics to AR/VR, the task has recently risen…
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We leverage geometric foundation models to estimate geometric…
Achieving unified 3D perception and reasoning across tasks such as segmentation, retrieval, and relation understanding remains challenging, as existing methods are either object-centric or rely on costly training for inter-object reasoning.…
Humans inherently recognize objects via selective visual perception, transform specific regions from the visual field into structured symbolic knowledge, and reason their relationships among regions based on the allocation of limited…
Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…
Generating coherent and useful image/video scenes from a free-form textual description is technically a very difficult problem to handle. Textual description of the same scene can vary greatly from person to person, or sometimes even for…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
In this paper, we introduce a new task: Zero-Shot 3D Reasoning Segmentation for parts searching and localization for objects, which is a new paradigm to 3D segmentation that transcends limitations for previous category-specific 3D semantic…
Recent advancements in object-centric text-to-3D generation have shown impressive results. However, generating complex 3D scenes remains an open challenge due to the intricate relations between objects. Moreover, existing methods are…
Recently, large language models (LLMs) have been explored widely for 3D scene understanding. Among them, training-free approaches are gaining attention for their flexibility and generalization over training-based methods. However, they…
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…
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…