相关论文: Joint 2D-3D-Semantic Data for Indoor Scene Underst…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

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…

Omnidirectional images are one of the main sources of information for learning based scene understanding algorithms. However, annotated datasets of omnidirectional images cannot keep the pace of these learning based algorithms development.…

We present ScanNet++, a large-scale dataset that couples together capture of high-quality and commodity-level geometry and color of indoor scenes. Each scene is captured with a high-end laser scanner at sub-millimeter resolution, along with…

We present a method for creating 3D indoor scenes with a generative model learned from a collection of semantic-segmented depth images captured from different unknown scenes. Given a room with a specified size, our method automatically…

Datasets have gained an enormous amount of popularity in the computer vision community, from training and evaluation of Deep Learning-based methods to benchmarking Simultaneous Localization and Mapping (SLAM). Without a doubt, synthetic…

An essential prerequisite for unleashing the potential of supervised deep learning algorithms in the area of 3D scene understanding is the availability of large-scale and richly annotated datasets. However, publicly available datasets are…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Creating high-fidelity 3D models of indoor environments is essential for applications in design, virtual reality, and robotics. However, manual 3D modeling remains time-consuming and labor-intensive. While recent advances in generative AI…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

We address the new problem of language-guided semantic style transfer of 3D indoor scenes. The input is a 3D indoor scene mesh and several phrases that describe the target scene. Firstly, 3D vertex coordinates are mapped to RGB residues by…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

We address the problem of registering synchronized color (RGB) and multi-spectral (MS) images featuring very different resolution by solving stereo matching correspondences. Purposely, we introduce a novel RGB-MS dataset framing 13…

We introduce MMIS, a novel dataset designed to advance MultiModal Interior Scene generation and recognition. MMIS consists of nearly 160,000 images. Each image within the dataset is accompanied by its corresponding textual description and…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…

We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 3000-5000 data frames. We generate the sequences using realistic home layouts. For that we…