相关论文: SceneGraphNet: Neural Message Passing for 3D Indoo…

One-shot transfer of dexterous grasps to novel scenes with object and context variations has been a challenging problem. While distilled feature fields from large vision models have enabled semantic correspondences across 3D scenes, their…

This paper presents a new self-supervised system for learning to detect novel and previously unseen categories of objects in images. The proposed system receives as input several unlabeled videos of scenes containing various objects. The…

Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…

The goal of scene graph generation is to predict a graph from an input image, where nodes correspond to identified and localized objects and edges to their corresponding interaction predicates. Existing methods are trained in a fully…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…

A major challenge in scene graph classification is that the appearance of objects and relations can be significantly different from one image to another. Previous works have addressed this by relational reasoning over all objects in an…

Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics.…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

We introduce a method for assigning photorealistic relightable materials to 3D shapes in an automatic manner. Our method takes as input a photo exemplar of a real object and a 3D object with segmentation, and uses the exemplar to guide the…

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…

This paper presents a novel approach to inpainting 3D regions of a scene, given masked multi-view images, by distilling a 2D diffusion model into a learned 3D scene representation (e.g. a NeRF). Unlike 3D generative methods that explicitly…

Despite enormous progress in object detection and classification, the problem of incorporating expected contextual relationships among object instances into modern recognition systems remains a key challenge. In this work we propose…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…