相关论文: 3D Semantic Trajectory Reconstruction from 3D Pixe…

Visual semantic correspondence is an important topic in computer vision and could help machine understand objects in our daily life. However, most previous methods directly train on correspondences in 2D images, which is end-to-end but…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

In many robotic applications, especially for the autonomous driving, understanding the semantic information and the geometric structure of surroundings are both essential. Semantic 3D maps, as a carrier of the environmental knowledge, are…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Incorporating the physical environment is essential for a complete understanding of human behavior in unconstrained every-day tasks. This is especially important in ego-centric tasks where obtaining 3 dimensional information is both…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

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…

Predicting the movement trajectories of multiple classes of road users in real-world scenarios is a challenging task due to the diverse trajectory patterns. While recent works of pedestrian trajectory prediction successfully modelled the…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

Identifying human actions in complex scenes is widely considered as a challenging research problem due to the unpredictable behaviors and variation of appearances and postures. For extracting variations in motion and postures, trajectories…

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…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…

Large vision-language models have achieved remarkable capabilities by training on massive internet-scale data, yet a fundamental asymmetry persists: while LLMs can leverage self-supervised pretraining on abundant text and image data, the…

Existing 3D reconstruction methods utilize guidances such as 2D images, 3D point clouds, shape contours and single semantics to recover the 3D surface, which limits the creative exploration of 3D modeling. In this paper, we propose a novel…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Referring 3D Gaussian Splatting (R3DGS), which utilizes natural language for 3D object segmentation, has emerged as a crucial capability for embodied AI. However, existing methods typically rely on expensive per-scene manual annotation and…

We propose a method to reconstruct, complete and semantically label a 3D scene from a single input depth image. We improve the accuracy of the regressed semantic 3D maps by a novel architecture based on adversarial learning. In particular,…