Related papers: FlowSSC: Universal Generative Monocular Semantic S…
This work addresses a gap in semantic scene completion (SSC) data by creating a novel outdoor data set with accurate and complete dynamic scenes. Our data set is formed from randomly sampled views of the world at each time step, which…
Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…
Enabling generative models to decompose visual concepts from a single image is a complex and challenging problem. In this paper, we study a new and challenging task, customized concept decomposition, wherein the objective is to leverage…
Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…
Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…
Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…
Feed-forward 3D reconstruction for autonomous driving has advanced rapidly, yet existing methods struggle with the joint challenges of sparse, non-overlapping camera views and complex scene dynamics. We present UniSplat, a general…
Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…
Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…
Scene segmentation and classification (SSC) serve as a critical step towards the field of video structuring analysis. Intuitively, jointly learning of these two tasks can promote each other by sharing common information. However, scene…
Normalizing flows (NFs) provide exact likelihoods and deterministic invertible sampling, but have historically lagged behind diffusion models for large-scale image generation. We identify a key obstacle: NFs are required to learn a single…
Contrary to the ongoing trend in automotive applications towards usage of more diverse and more sensors, this work tries to solve the complex scene flow problem under a monocular camera setup, i.e. using a single sensor. Towards this end,…
Text-driven 3D indoor scene generation holds broad applications, ranging from gaming and smart homes to AR/VR applications. Fast and high-fidelity scene generation is paramount for ensuring user-friendly experiences. However, existing…
Scene Graph Generation (SGG) aims to extract a detailed graph structure from an image, a representation that holds significant promise as a robust intermediate step for complex downstream tasks like reasoning for embodied agents. However,…
Text-based generation and editing of 3D scenes hold significant potential for streamlining content creation through intuitive user interactions. While recent advances leverage 3D Gaussian Splatting (3DGS) for high-fidelity and real-time…
3D Gaussian Splatting (3DGS) enables high-fidelity real-time rendering, a key requirement for immersive applications. However, the extension of 3DGS to dynamic scenes remains limitations on the substantial data volume of dense Gaussians and…
Flow Matching (FM) has recently emerged as a powerful approach for high-quality visual generation. However, their prohibitively slow inference due to a large number of denoising steps limits their potential use in real-time or interactive…
The clustering of data into physically meaningful subsets often requires assumptions regarding the number, size, or shape of the subgroups. Here, we present a new method, simultaneous coherent structure coloring (sCSC), which accomplishes…
Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…
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…