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Vision Foundation Models (VFMs) have become a de facto choice for many downstream vision tasks, like image classification, image segmentation, and object localization. However, they can also provide significant utility for downstream 3D…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Context is essential for semantic segmentation. Due to the diverse shapes of objects and their complex layout in various scene images, the spatial scales and shapes of contexts for different objects have very large variation. It is thus…

We present Diff3F as a simple, robust, and class-agnostic feature descriptor that can be computed for untextured input shapes (meshes or point clouds). Our method distills diffusion features from image foundational models onto input shapes.…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

We present Visual-Language Fields (VL-Fields), a neural implicit spatial representation that enables open-vocabulary semantic queries. Our model encodes and fuses the geometry of a scene with vision-language trained latent features by…

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…

Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…

A unified model for 3D vision-language (3D-VL) understanding is expected to take various scene representations and perform a wide range of tasks in a 3D scene. However, a considerable gap exists between existing methods and such a unified…

Visual localization is the problem of estimating the camera pose of a given image with respect to a known scene. Visual localization algorithms are a fundamental building block in advanced computer vision applications, including Mixed and…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

We introduce a novel approach that takes a single semantic mask as input to synthesize multi-view consistent color images of natural scenes, trained with a collection of single images from the Internet. Prior works on 3D-aware image…

Visual attributes play an essential role in real applications based on image retrieval. For instance, the extraction of attributes from images allows an eCommerce search engine to produce retrieval results with higher precision. The…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Text segmentation tasks have a very wide range of application values, such as image editing, style transfer, watermark removal, etc.However, existing public datasets are of poor quality of pixel-level labels that have been shown to be…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…