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In the task of 3D Aerial-view Scene Semantic Segmentation (3D-AVS-SS), traditional methods struggle to address semantic ambiguity caused by scale variations and structural occlusions in aerial images. This limits their segmentation accuracy…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

This paper introduces an innovative approach to open world recognition (OWR), where we leverage knowledge acquired from known objects to address the recognition of previously unseen objects. The traditional method of object modeling relies…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Recent salient object detection (SOD) models predominantly rely on heavyweight backbones, incurring substantial computational cost and hindering their practical application in various real-world settings, particularly on edge devices. This…

Deep neural networks have made breakthroughs in a wide range of visual understanding tasks. A typical challenge that hinders their real-world applications is that unknown samples may be fed into the system during the testing phase, but…

Unsupervised learning for geometric perception (depth, optical flow, etc.) is of great interest to autonomous systems. Recent works on unsupervised learning have made considerable progress on perceiving geometry; however, they usually…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

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…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

3D object detection aims to recover the 3D information of concerning objects and serves as the fundamental task of autonomous driving perception. Its performance greatly depends on the scale of labeled training data, yet it is costly to…

The promise of self-supervised learning (SSL) is to leverage large amounts of unlabeled data to solve complex tasks. While there has been excellent progress with simple, image-level learning, recent methods have shown the advantage of…

Deep learning has led to remarkable strides in scene understanding with panoptic segmentation emerging as a key holistic scene interpretation task. However, the performance of panoptic segmentation is severely impacted in the presence of…

Recently, fault diagnosis methods for marine machinery systems based on deep learning models have attracted considerable attention in the shipping industry. Most existing studies assume fault classes are consistent and known between the…

Traditional machine learning follows a close-set assumption that the training and test set share the same label space. While in many practical scenarios, it is inevitable that some test samples belong to unknown classes (open-set). To fix…

Weakly supervised semantic segmentation aims to achieve pixel-level predictions using image-level labels. Existing methods typically entangle semantic recognition and object localization, which often leads models to focus exclusively on…

Most learning-based approaches to category-level 6D pose estimation are design around normalized object coordinate space (NOCS). While being successful, NOCS-based methods become inaccurate and less robust when handling objects of a…

In this paper, we propose a training scheme called OVSeg3R to learn open-vocabulary 3D instance segmentation from well-studied 2D perception models with the aid of 3D reconstruction. OVSeg3R directly adopts reconstructed scenes from 2D…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Given the diversity of devices and the product upgrades, cross-device research has become an urgent issue that needs to be tackled. To this end, we pioneer in probing the cross-device (cameras & robotics) grasping policy in the 3D open…