Related papers: ObjVariantEnsemble: Advancing Point Cloud LLM Eval…

Zero-shot learning on 3D point cloud data is a related underexplored problem compared to its 2D image counterpart. 3D data brings new challenges for ZSL due to the unavailability of robust pre-trained feature extraction models. To address…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Point scene understanding is a challenging task to process real-world scene point cloud, which aims at segmenting each object, estimating its pose, and reconstructing its mesh simultaneously. Recent state-of-the-art method first segments…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

Vision-language models (VLMs) excel at descriptive tasks, but whether they truly understand scenes from visual observations remains uncertain. We introduce IR3D-Bench, a benchmark challenging VLMs to demonstrate understanding through active…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Effective visual accessibility in Virtual Reality (VR) is crucial for Blind and Low Vision (BLV) users. However, designing visual accessibility systems is challenging due to the complexity of 3D VR environments and the need for techniques…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…

Recent research has demonstrated that Large Language Models (LLMs) are not limited to text-only tasks but can also function as multimodal models across various modalities, including audio, images, and videos. In particular, research on 3D…

Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene…

We propose SegVec3D, a novel framework for 3D point cloud instance segmentation that integrates attention mechanisms, embedding learning, and cross-modal alignment. The approach builds a hierarchical feature extractor to enhance geometric…

Detecting anomalies within point clouds is crucial for various industrial applications, but traditional unsupervised methods face challenges due to data acquisition costs, early-stage production constraints, and limited generalization…