Related papers: LidaRefer: Context-aware Outdoor 3D Visual Groundi…
Visual grounding (VG) aims to locate a specific target in an image based on a given language query. The discriminative information from context is important for distinguishing the target from other objects, particularly for the targets that…
Grounding language in the physical world requires AI systems to interpret references that emerge dynamically during conversation. While current vision-language models (VLMs) excel at static image tasks, they struggle to resolve ambiguous…
LiDAR sensors play a crucial role in various applications, especially in autonomous driving. Current research primarily focuses on optimizing perceptual models with point cloud data as input, while the exploration of deeper cognitive…
Referential grounding in outdoor driving scenes is challenging due to large scene variability, many visually similar objects, and dynamic elements that complicate resolving natural-language references (e.g., "the black car on the right").…
Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…
3D Visual Grounding (3DVG) is a critical bridge from vision-language perception to robotics, requiring both language understanding and 3D scene reasoning. Traditional supervised models leverage explicit 3D geometry but exhibit limited…
Visual grounding is a task to ground referring expressions in images, e.g., localize "the white truck in front of the yellow one". To resolve this task fundamentally, the model should first find out the contextual objects (e.g., the…
3D visual grounding (3DVG) is a critical task in scene understanding that aims to identify objects in 3D scenes based on text descriptions. However, existing methods rely on separately pre-trained vision and text encoders, resulting in a…
Visual grounding aims to identify objects or regions in a scene based on natural language descriptions, essential for spatially aware perception in autonomous driving. However, existing visual grounding tasks typically depend on bounding…
Understanding natural-language references to objects in dynamic 3D driving scenes is essential for interactive autonomous systems. In practice, many referring expressions describe targets through recent motion or short-term interactions,…
3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…
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…
Visual grounding is a task to locate the target indicated by a natural language expression. Existing methods extend the generic object detection framework to this problem. They base the visual grounding on the features from pre-generated…
Real-world robots localize objects from natural-language instructions while scenes around them keep changing. Yet most of the existing 3D visual grounding (3DVG) method still assumes a reconstructed and up-to-date point cloud, an assumption…
With the recent rise of large language models, vision-language models, and other general foundation models, there is growing potential for multimodal, multi-task robotics that can operate in diverse environments given natural language…
Visual grounding (VG) aims to establish fine-grained alignment between vision and language. Ideally, it can be a testbed for vision-and-language models to evaluate their understanding of the images and texts and their reasoning abilities…
3D Visual Grounding (3DVG) aims to localize target objects within a 3D scene based on natural language queries. To alleviate the reliance on costly 3D training data, recent studies have explored zero-shot 3DVG by leveraging the extensive…
3D Visual Grounding (3DVG) seeks to locate target objects in 3D scenes using natural language descriptions, enabling downstream applications such as augmented reality and robotics. Existing approaches typically rely on labeled 3D data and…
Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to…
Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…