Related papers: PLAF: Pixel-wise Language-Aligned Feature Extracti…
3D scene reconstruction and understanding have gained increasing popularity, yet existing methods still struggle to capture fine-grained, language-aware 3D representations from 2D images. In this paper, we present GALA, a novel framework…
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…
Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled Simultaneous Localization and Mapping (SLAM) systems to build photorealistic maps. However, these maps lack the open-vocabulary semantic understanding required for advanced…
Humans live in a 3D world and commonly use natural language to interact with a 3D scene. Modeling a 3D language field to support open-ended language queries in 3D has gained increasing attention recently. This paper introduces LangSplat,…
Modeling open-vocabulary language fields in 3D is essential for intuitive human-AI interaction and querying within physical environments. State-of-the-art approaches, such as LangSplat, leverage 3D Gaussian Splatting to efficiently…
It is widely agreed that open-vocabulary-based approaches outperform classical closed-set training solutions for recognizing unseen objects in images for semantic segmentation. Existing open-vocabulary approaches leverage vision-language…
Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…
Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…
Understanding 3D scenes is a crucial challenge in computer vision research with applications spanning multiple domains. Recent advancements in distilling 2D vision-language foundation models into neural fields, like NeRF and 3DGS, enable…
Language-augmented scene representations hold great promise for large-scale robotics applications such as search-and-rescue, smart cities, and mining. Many of these scenarios are time-sensitive, requiring rapid scene encoding while also…
Understanding a 3D scene immediately with its exploration is essential for embodied tasks, where an agent must construct and comprehend the 3D scene in an online and nearly real-time manner. In this study, we propose EmbodiedSplat, an…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
Egocentric scenes exhibit frequent occlusions, varied viewpoints, and dynamic interactions compared to typical scene understanding tasks. Occlusions and varied viewpoints can lead to multi-view semantic inconsistencies, while dynamic…
Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…
Recent breakthroughs in Visual Language Models (VLMs) and Multimodal Large Language Models (MLLMs) have significantly advanced 3D scene perception towards language-driven cognition. However, existing 3D language models struggle with sparse,…
To enable AI agents to interact seamlessly with both humans and 3D environments, they must not only perceive the 3D world accurately but also align human language with 3D spatial representations. While prior work has made significant…
In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and…
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…
This paper presents a novel hierarchical alignment model (HAM) that learns multi-granularity visual and linguistic representations in an end-to-end manner. We extract key points and proposal points to model 3D contexts and instances, and…