Related papers: VoxDet: Rethinking 3D Semantic Occupancy Predictio…
Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…
We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…
Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…
Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…
In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…
This work presents SGCDet, a novel multi-view indoor 3D object detection framework based on adaptive 3D volume construction. Unlike previous approaches that restrict the receptive field of voxels to fixed locations on images, we introduce a…
In this technical report, we present our findings from the research conducted on the Vast Vocabulary Visual Detection (V3Det) dataset for Supervised Vast Vocabulary Visual Detection task. How to deal with complex categories and detection…
When working with three-dimensional data, choice of representation is key. We explore voxel-based models, and present evidence for the viability of voxellated representations in applications including shape modeling and object…
Benefiting from large-scale vision-language pre-training on image-text pairs, open-world detection methods have shown superior generalization ability under the zero-shot or few-shot detection settings. However, a pre-defined category space…
Open-vocabulary object detection (OVD) aims to scale up vocabulary size to detect objects of novel categories beyond the training vocabulary. Recent work resorts to the rich knowledge in pre-trained vision-language models. However, existing…
Recent studies have shown promising performance in open-vocabulary object detection (OVD) by utilizing pseudo labels (PLs) from pretrained vision and language models (VLMs). However, teacher-student self-training, a powerful and widely used…
Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…
We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…
Object detection (OD) in computer vision has made significant progress in recent years, transitioning from closed-set labels to open-vocabulary detection (OVD) based on large-scale vision-language pre-training (VLP). However, current…
3D semantic occupancy prediction is a pivotal task in the field of autonomous driving. Recent approaches have made great advances in 3D semantic occupancy predictions on a single modality. However, multi-modal semantic occupancy prediction…
In this paper, we propose a novel visual Semantic-Spatial Self-Highlighting Network (termed 3SHNet) for high-precision, high-efficiency and high-generalization image-sentence retrieval. 3SHNet highlights the salient identification of…
Instance detection (InsDet) aims to localize specific object instances within a novel scene imagery based on given visual references. Technically, it requires proposal detection to identify all possible object instances, followed by…
3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
LiDAR-based semantic segmentation plays a vital role in autonomous driving by enabling detailed understanding of 3D environments. However, annotating LiDAR point clouds is extremely costly and requires assigning semantic labels to millions…