相关论文: 3D Scene Parsing via Class-Wise Adaptation

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Contrastive Language-Image Pre-training (CLIP) achieves promising results in 2D zero-shot and few-shot learning. Despite the impressive performance in 2D, applying CLIP to help the learning in 3D scene understanding has yet to be explored.…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Images seen during test time are often not from the same distribution as images used for learning. This problem, known as domain shift, occurs when training classifiers from object-centric internet image databases and trying to apply them…

Large annotated datasets are vital for training segmentation models, but pixel-level labeling is time-consuming, error-prone, and often requires scarce expert annotators, especially in medical imaging. In contrast, coarse annotations are…

Recently, semantic parsing has attracted much attention in the community. Although many neural modeling efforts have greatly improved the performance, it still suffers from the data scarcity issue. In this paper, we propose a novel semantic…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Semantic segmentation plays a fundamental role in a broad variety of computer vision applications, providing key information for the global understanding of an image. Yet, the state-of-the-art models rely on large amount of annotated…

Convolutional neural networks (CNNs) show outstanding performance in many image processing problems, such as image recognition, object detection and image segmentation. Semantic segmentation is a very challenging task that requires…

This paper aims to achieve the segmentation of any 3D part in a scene based on natural language descriptions, extending beyond traditional object-level 3D scene understanding and addressing both data and methodological challenges. Due to…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

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…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

State-of-the-art semantic image segmentation methods are mostly based on training deep convolutional neural networks (CNNs). In this work, we proffer to improve semantic segmentation with the use of contextual information. In particular, we…

In the realm of artificial intelligence, the emergence of foundation models, backed by high computing capabilities and extensive data, has been revolutionary. Segment Anything Model (SAM), built on the Vision Transformer (ViT) model with…