相关论文: ScanRefer: 3D Object Localization in RGB-D Scans u…

Text-driven localized editing of 3D objects is particularly difficult as locally mixing the original 3D object with the intended new object and style effects without distorting the object's form is not a straightforward process. To address…

Modern-day autonomous robots need high-level map representations to perform sophisticated tasks. Recently, 3D scene graphs (3DSGs) have emerged as a promising alternative to traditional grid maps, blending efficient memory use and rich…

Promising performance has been achieved for visual perception on the point cloud. However, the current methods typically rely on labour-extensive annotations on the scene scans. In this paper, we explore how synthetic models alleviate the…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

We propose an efficient Stereographic Projection Neural Network (SPNet) for learning representations of 3D objects. We first transform a 3D input volume into a 2D planar image using stereographic projection. We then present a shallow 2D…

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…

Understanding natural-language references to objects in dynamic 3D driving scenes is essential for interactive autonomous systems. In practice, many referring expressions describe targets through recent motion or short-term interactions,…

Change detection in remote sensing imagery is essential for applications such as urban planning, environmental monitoring, and disaster management. Traditional change detection methods typically identify all changes between two temporal…

Editing a local region or a specific object in a 3D scene represented by a NeRF or consistently blending a new realistic object into the scene is challenging, mainly due to the implicit nature of the scene representation. We present…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

Referring expression segmentation is a fundamental task in computer vision that integrates natural language understanding with precise visual localization of target regions. Considering aerial imagery (e.g., modern aerial photos collected…

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 present a method for automatically modifying a NeRF representation based on a single observation of a non-rigid transformed version of the original scene. Our method defines the transformation as a 3D flow, specifically as a weighted…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

Generalised 3D Referring Expression Segmentation (3D-GRES) localizes objects in 3D scenes based on natural language, even when descriptions match multiple or zero targets. Existing methods rely solely on sparse point clouds, lacking rich…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However,…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

Object Referring-guided Scanpath Prediction (ORSP) aims to predict the human attention scanpath when they search for a specific target object in a visual scene according to a linguistic description describing the object. Multimodal…