相关论文: Predicting Complete 3D Models of Indoor Scenes

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two…

This paper presents a novel framework for compactly representing a 3D indoor scene using a set of polycuboids through a deep learning-based fitting method. Indoor scenes mainly consist of man-made objects, such as furniture, which often…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Single-image room layout reconstruction aims to reconstruct the enclosed 3D structure of a room from a single image. Most previous work relies on the cuboid-shape prior. This paper considers a more general indoor assumption, i.e., the room…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

The appearance of the same object may vary in different scene images due to perspectives and occlusions between objects. Humans can easily identify the same object, even if occlusions exist, by completing the occluded parts based on its…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

We present a method to estimate lighting from a single image of an indoor scene. Previous work has used an environment map representation that does not account for the localized nature of indoor lighting. Instead, we represent lighting as a…

Indoor rooms are among the most common use cases in 3D scene understanding. Current state-of-the-art methods for this task are driven by large annotated datasets. Room layouts are especially important, consisting of structural elements in…

Inverse rendering aims to estimate physical attributes of a scene, e.g., reflectance, geometry, and lighting, from image(s). Inverse rendering has been studied primarily for single objects or with methods that solve for only one of the…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an…