Related papers: Feed-Forward SceneDINO for Unsupervised Semantic S…

We propose a feed-forward Gaussian Splatting model that unifies 3D scene and semantic field reconstruction. Combining 3D scenes with semantic fields facilitates the perception and understanding of the surrounding environment. However, key…

Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as…

Semantic scene completion (SSC) aims to predict complete 3D voxel occupancy and semantics from a single-view RGB-D image, and recent SSC methods commonly adopt multi-modal inputs. However, our investigation reveals two limitations:…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task for autonomous driving and robotic scene understanding. It aims to infer a complete 3D volumetric representation of both semantics and geometry from a single image. Existing…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

Camera-based Semantic Scene Completion (SSC) is gaining attentions in the 3D perception field. However, properties such as perspective and occlusion lead to the underestimation of the geometry in distant regions, posing a critical issue for…

This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

Recent self-supervised clustering-based pre-training techniques like DINO and Cribo have shown impressive results for downstream detection and segmentation tasks. However, real-world applications such as autonomous driving face challenges…

We present SPSG, a novel approach to generate high-quality, colored 3D models of scenes from RGB-D scan observations by learning to infer unobserved scene geometry and color in a self-supervised fashion. Our self-supervised approach learns…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Unsupervised learning with generative models has the potential of discovering rich representations of 3D scenes. While geometric deep learning has explored 3D-structure-aware representations of scene geometry, these models typically require…

RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…

Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented…

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…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…