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

Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either…

For many fundamental scene understanding tasks, it is difficult or impossible to obtain per-pixel ground truth labels from real images. We address this challenge by introducing Hypersim, a photorealistic synthetic dataset for holistic…

In this study, we present IL3D, a large-scale dataset meticulously designed for large language model (LLM)-driven 3D scene generation, addressing the pressing demand for diverse, high-quality training data in indoor layout design.…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

Most existing mobile robotic datasets primarily capture static scenes, limiting their utility for evaluating robotic performance in dynamic environments. To address this, we present a mobile robot oriented large-scale indoor dataset,…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set of CAD models using a stochastic grammar model. Specifically, we introduce a Holistic Scene Grammar (HSG)…

Estimating 6D object poses is a major challenge in 3D computer vision. Building on successful instance-level approaches, research is shifting towards category-level pose estimation for practical applications. Current category-level…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

With the availability of low-cost and compact 2.5/3D visual sensing devices, computer vision community is experiencing a growing interest in visual scene understanding of indoor environments. This survey paper provides a comprehensive…

We propose Scan2Part, a method to segment individual parts of objects in real-world, noisy indoor RGB-D scans. To this end, we vary the part hierarchies of objects in indoor scenes and explore their effect on scene understanding models.…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

3D building models are critical for applications in architecture, energy simulation, and navigation. Yet, generating accurate and semantically rich 3D buildings automatically remains a major challenge due to the lack of large-scale…

Semantic segmentation of outdoor scenes is problematic when there are variations in imaging conditions. It is known that albedo (reflectance) is invariant to all kinds of illumination effects. Thus, using reflectance images for semantic…

Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…

Semantic scene understanding is crucial for robust and safe autonomous navigation, particularly so in off-road environments. Recent deep learning advances for 3D semantic segmentation rely heavily on large sets of training data, however…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

We study the problem of synthesizing immersive 3D indoor scenes from one or more images. Our aim is to generate high-resolution images and videos from novel viewpoints, including viewpoints that extrapolate far beyond the input images while…