Related papers: Queryable 3D Scene Representation: A Multi-Modal F…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…
Spatial reasoning in large-scale 3D environments remains challenging for current vision-language models, which are typically constrained to room-scale scenarios. We introduce H$^2$U3D (Holistic House Understanding in 3D), a 3D visual…
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner. The novelty of…
Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…
We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…
With the growing need for diverse and scalable data in indoor scene tasks, such as question answering and dense captioning, we propose 3D-MoRe, a novel paradigm designed to generate large-scale 3D-language datasets by leveraging the…
Grounding object properties and relations in 3D scenes is a prerequisite for a wide range of artificial intelligence tasks, such as visually grounded dialogues and embodied manipulation. However, the variability of the 3D domain induces two…
Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…
We propose a new spatial memory module and a spatial reasoner for the Visual Grounding (VG) task. The goal of this task is to find a certain object in an image based on a given textual query. Our work focuses on integrating the regions of a…
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…
Recent advances in Multi-modal Large Language Models (MLLMs) have showcased remarkable capabilities in vision-language understanding. However, enabling robust video spatial reasoning-the ability to comprehend object locations, orientations,…
Scene text image contains two levels of contents: visual texture and semantic information. Although the previous scene text recognition methods have made great progress over the past few years, the research on mining semantic information to…
Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…
Introducing semantically meaningful objects to visual Simultaneous Localization And Mapping (SLAM) has the potential to improve both the accuracy and reliability of pose estimates, especially in challenging scenarios with significant…
3D Scene Question Answering (3D SQA) represents an interdisciplinary task that integrates 3D visual perception and natural language processing, empowering intelligent agents to comprehend and interact with complex 3D environments. Recent…
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…
Camera-based 3D Semantic Scene Completion (SSC) is a critical task in autonomous driving systems, assessing voxel-level geometry and semantics for holistic scene perception. While existing voxel-based and plane-based SSC methods have…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…
Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…
Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…