相关论文: Learning models for visual 3D localization with im…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Generating a 3D point cloud from a single 2D image is of great importance for 3D scene understanding applications. To reconstruct the whole 3D shape of the object shown in the image, the existing deep learning based approaches use either…

Generative models have demonstrated remarkable abilities in generating high-fidelity visual content. In this work, we explore how generative models can further be used not only to synthesize visual content but also to understand the…

Geometry-aware modules are widely applied in recent deep learning architectures for scene representation and rendering. However, these modules require intrinsic camera information that might not be obtained accurately. In this paper, we…

This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…

Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…

We present a method to learn the 3D surface of objects directly from a collection of images. Previous work achieved this capability by exploiting additional manual annotation, such as object pose, 3D surface templates, temporal continuity…

Large-scale visual localization systems continue to rely on 3D point clouds built from image collections using structure-from-motion. While the 3D points in these models are represented using local image features, directly matching a query…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…

Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…

3D Gaussian Splatting (3DGS) is a recent approach for scene rendering. Although primarily designed for view synthesis, its potential for scene understanding tasks remains underexplored. In this work, we conduct a comparative evaluation of…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

We present a method for relighting 3D reconstructions of large room-scale environments. Existing solutions for 3D scene relighting often require solving under-determined or ill-conditioned inverse rendering problems, and are as such unable…

Convolutional Neural Networks (CNNs) have revolutionized the understanding of visual content. This is mainly due to their ability to break down an image into smaller pieces, extract multi-scale localized features and compose them to…

Learning 3D representations that generalize well to arbitrarily oriented inputs is a challenge of practical importance in applications varying from computer vision to physics and chemistry. We propose a novel multi-resolution convolutional…

In this paper, we address the task of semantic-guided scene generation. One open challenge in scene generation is the difficulty of the generation of small objects and detailed local texture, which has been widely observed in global…