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Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…
3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…
Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…
We propose a novel fine-grained cross-view localization method that estimates the 3 Degrees of Freedom pose of a ground-level image in an aerial image of the surroundings by matching fine-grained features between the two images. The pose is…
In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…
Fine-grained 3D shape classification is important for shape understanding and analysis, which poses a challenging research problem. However, the studies on the fine-grained 3D shape classification have rarely been explored, due to the lack…
Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…
Large 2D vision-language models (2D-LLMs) have gained significant attention by bridging Large Language Models (LLMs) with images using a simple projector. Inspired by their success, large 3D point cloud-language models (3D-LLMs) also…
Point clouds and RGB images are two general perceptional sources in autonomous driving. The former can provide accurate localization of objects, and the latter is denser and richer in semantic information. Recently, AutoAlign presents a…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…
Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…
Natural language offers a highly intuitive interface for enabling localized fine-grained edits of 3D shapes. However, prior works face challenges in preserving global coherence while locally modifying the input 3D shape. In this work, we…
Affordance reasoning in 3D Gaussian scenes aims to identify the region that supports the action specified by a given text instruction in complex environments. Existing methods typically cast this problem as one-shot prediction from static…
With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…
Grounding natural language questions to functionally relevant regions in 3D objects -- termed language-driven 3D affordance grounding -- is essential for embodied intelligence and human-AI interaction. Existing methods, while progressing…
Recent advances in Multimodal Large Language Models (MLLMs) have expanded reasoning capabilities into 3D domains, enabling fine-grained spatial understanding. However, the substantial size of 3D MLLMs and the high dimensionality of input…
Image-text retrieval is a widely studied topic in the field of computer vision due to the exponential growth of multimedia data, whose core concept is to measure the similarity between images and text. However, most existing retrieval…
Most existing 3D shape datasets and models focus solely on geometry, overlooking the material properties that determine how objects appear. We introduce a two-stage large language model (LLM) based method for inferring material composition…
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…