Related papers: Just Add Geometry: Gradient-Free Open-Vocabulary 3…
2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…
Open vocabulary 3D object detection (OV3D) allows precise and extensible object recognition crucial for adapting to diverse environments encountered in assistive robotics. This paper presents OpenNav, a zero-shot 3D object detection…
Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…
Open-vocabulary object detection models allow users to freely specify a class vocabulary in natural language at test time, guiding the detection of desired objects. However, vocabularies can be overly broad or even mis-specified, hampering…
Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…
The scarcity of large-scale 3D-text paired data poses a great challenge on open vocabulary 3D scene understanding, and hence it is popular to leverage internet-scale 2D data and transfer their open vocabulary capabilities to 3D models…
A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…
3D detection is a critical task to understand spatial characteristics of the environment and is used in a variety of applications including robotics, augmented reality, and image retrieval. Training performant detection models require…
Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…
Recent advancements in open-vocabulary 3D scene understanding heavily rely on 3D Gaussian Splatting (3DGS) to register vision-language features into 3D space. However, we identify two critical limitations in these approaches: the spatial…
Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…
Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…
The prominence of generalized foundation models in vision-language integration has witnessed a surge, given their multifarious applications. Within the natural domain, the procurement of vision-language datasets to construct these…
Open-vocabulary segmentation of 3D scenes is a fundamental function of human perception and thus a crucial objective in computer vision research. However, this task is heavily impeded by the lack of large-scale and diverse 3D…
Data collection for autonomous driving is rapidly accelerating, but manual annotation, especially for 3D labels, remains a major bottleneck due to its high cost and labor intensity. Autolabeling has emerged as a scalable alternative,…
Open-vocabulary 3D scene understanding is crucial for applications requiring natural language-driven spatial interpretation, such as robotics and augmented reality. While 3D Gaussian Splatting (3DGS) offers a powerful representation for…
To identify objects beyond predefined categories, open-vocabulary aerial object detection (OVAD) leverages the zero-shot capabilities of visual-language models (VLMs) to generalize from base to novel categories. Existing approaches…
3D part segmentation is still an open problem in the field of 3D vision and AR/VR. Due to limited 3D labeled data, traditional supervised segmentation methods fall short in generalizing to unseen shapes and categories. Recently, the…
Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D…
With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…