Related papers: SGAligner++: Cross-Modal Language-Aided 3D Scene G…

We propose an end-to-end solution to address the problem of object localisation in partial scenes, where we aim to estimate the position of an object in an unknown area given only a partial 3D scan of the scene. We propose a novel scene…

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Video-language alignment is a crucial multi-modal task that benefits various downstream applications, e.g., video-text retrieval and video question answering. Existing methods either utilize multi-modal information in video-text pairs or…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

Current 3D scene graph generation (3DSGG) approaches heavily rely on a single-agent assumption and small-scale environments, exhibiting limited scalability to real-world scenarios. In this work, we introduce Multi-Agent 3D Scene Graph…

We present a fast, spatio-temporal scene understanding framework based on Visual Geometry Grounded Transformer (VGGT). The proposed pipeline is designed to enable efficient, close to real-time performance, supporting applications including…

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

Traditional object detection methods face performance degradation challenges in complex scenarios such as low-light conditions and heavy occlusions due to a lack of high-level semantic understanding. To address this, this paper proposes an…

Recent advancements in multi-modal large language models (MLLMs) have shown strong potential for 3D scene understanding. However, existing methods struggle with fine-grained object grounding and contextual reasoning, limiting their ability…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Recent advances in multimodal Parameter-Efficient Fine-Tuning (PEFT) have significantly improved performance on downstream tasks such as few-shot retrieval. However, most existing approaches focus on task-specific gains while neglecting the…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

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…