Related papers: Towards Camera-Robust 3D Localization: Equation-An…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Using tools by Large Language Models (LLMs) is a promising avenue to extend their reach beyond language or conversational settings. The number of tools can scale to thousands as they enable accessing sensory information, fetching updated…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…

Zero-shot 3D (ZS-3D) anomaly detection aims to identify defects in 3D objects without relying on labeled training data, making it especially valuable in scenarios constrained by data scarcity, privacy, or high annotation cost. However, most…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

Equation discovery is aimed at directly extracting physical laws from data and has emerged as a pivotal research domain. Previous methods based on symbolic mathematics have achieved substantial advancements, but often require the design of…

3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision…

Discrete motion tokenization has recently enabled Large Language Models (LLMs) to serve as versatile backbones for motion understanding and motion-language reasoning. However, existing pipelines typically decouple motion quantization from…

Multimodal Large Language Models (MLLMs) have achieved impressive progress in vision-language alignment, yet they remain limited in visual-spatial reasoning. We first identify that this limitation arises from the attention mechanism: visual…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

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…

Deep metric learning (DML) is a cornerstone of many computer vision applications. It aims at learning a mapping from the input domain to an embedding space, where semantically similar objects are located nearby and dissimilar objects far…

Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…

Integrating external tools enables Large Language Models (LLMs) to interact with real-world environments and solve complex tasks. Given the growing scale of available tools, effective tool retrieval is essential to mitigate constraints of…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

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…