Related papers: PoseRefer: Pathway-Local Parameters for Semantical…

Visual grounding is a promising path toward more robust and accurate Natural Language Processing (NLP) models. Many multimodal extensions of BERT (e.g., VideoBERT, LXMERT, VL-BERT) allow a joint modeling of texts and images that lead to…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

Referential grounding in outdoor driving scenes is challenging due to large scene variability, many visually similar objects, and dynamic elements that complicate resolving natural-language references (e.g., "the black car on the right").…

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,…

3D visual grounding is the task of localizing the object in a 3D scene which is referred by a description in natural language. With a wide range of applications ranging from autonomous indoor robotics to AR/VR, the task has recently risen…

This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…

We propose a model to learn visually grounded word embeddings (vis-w2v) to capture visual notions of semantic relatedness. While word embeddings trained using text have been extremely successful, they cannot uncover notions of semantic…

Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…

Semantic correspondence made tremendous progress through the recent advancements of large vision models (LVM). While these LVMs have been shown to reliably capture local semantics, the same can currently not be said for capturing global…

We present a visually-grounded language understanding model based on a study of how people verbally describe objects in scenes. The emphasis of the model is on the combination of individual word meanings to produce meanings for complex…

Vision Foundation Models (VFMs) and Vision Language Models (VLMs) have revolutionized computer vision by providing rich semantic and geometric representations. This paper presents a comprehensive visual comparison between CLIP based and…

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,…

Although multimodal large language models (MLLMs) have achieved impressive performance, the multimodal instruction tuning stage often causes catastrophic forgetting of the base LLM's language ability, even in strong models like Llama3. To…

Aligning multiple modalities in a latent space, such as images and texts, has shown to produce powerful semantic visual representations, fueling tasks like image captioning, text-to-image generation, or image grounding. In the context of…

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…

Generating animations from natural language sentences finds its applications in a a number of domains such as movie script visualization, virtual human animation and, robot motion planning. These sentences can describe different kinds of…

Phrase grounding, i.e., mapping natural language phrases to specific image regions, holds significant potential for disease localization in medical imaging through clinical reports. While current state-of-the-art methods rely on…

Vision-language models have achieved remarkable success in cross-modal understanding. Yet, these models remain limited to object-level or region-level grounding, lacking the capability for pixel-precise keypoint comprehension through…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Grounded video description (GVD) encourages captioning models to attend to appropriate video regions (e.g., objects) dynamically and generate a description. Such a setting can help explain the decisions of captioning models and prevents the…