Related papers: ChangingGrounding: 3D Visual Grounding in Changing…

3D visual grounding aims to identify the target object within a 3D point cloud scene referred to by a natural language description. Previous works usually require significant data relating to point color and their descriptions to exploit…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…

We propose Reasoning to Ground (R2G), a neural symbolic model that grounds the target objects within 3D scenes in a reasoning manner. In contrast to prior works, R2G explicitly models the 3D scene with a semantic concept-based scene graph;…

In this paper, we introduce the task of visual grounding for remote sensing data (RSVG). RSVG aims to localize the referred objects in remote sensing (RS) images with the guidance of natural language. To retrieve rich information from RS…

3D visual grounding (3DVG), which aims to correlate a natural language description with the target object within a 3D scene, is a significant yet challenging task. Despite recent advancements in this domain, existing approaches commonly…

Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual grounding from aerial views. Compared to traditional VG, AerialVG…

3D visual grounding (3DVG) is a critical task in scene understanding that aims to identify objects in 3D scenes based on text descriptions. However, existing methods rely on separately pre-trained vision and text encoders, resulting in a…

Constructing 4D language fields is crucial for embodied AI, augmented/virtual reality, and 4D scene understanding, as they provide enriched semantic representations of dynamic environments and enable open-vocabulary querying in complex…

Localizing objects in 3D scenes according to the semantics of a given natural language is a fundamental yet important task in the field of multimedia understanding, which benefits various real-world applications such as robotics and…

We introduce the task of 3D visual grounding in large-scale dynamic scenes based on natural linguistic descriptions and online captured multi-modal visual data, including 2D images and 3D LiDAR point clouds. We present a novel method,…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide model learning. This setting presents two primary challenges:…

We present a novel task for cross-dataset visual grounding in 3D scenes (Cross3DVG), which overcomes limitations of existing 3D visual grounding models, specifically their restricted 3D resources and consequent tendencies of overfitting a…

Visual grounding is a common vision task that involves grounding descriptive sentences to the corresponding regions of an image. Most existing methods use independent image-text encoding and apply complex hand-crafted modules or…

Although great progress has been made in 3D visual grounding, current models still rely on explicit textual descriptions for grounding and lack the ability to reason human intentions from implicit instructions. We propose a new task called…

We introduce a novel task of 3D visual grounding in monocular RGB images using language descriptions with both appearance and geometry information. Specifically, we build a large-scale dataset, Mono3DRefer, which contains 3D object targets…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

Visual grounding (VG) aims to locate a specific target in an image based on a given language query. The discriminative information from context is important for distinguishing the target from other objects, particularly for the targets that…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…