相关论文: Descriptor-Free Multi-View Region Matching for Ins…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

We propose a simple yet effective proposal-free architecture for lidar panoptic segmentation. We jointly optimize both semantic segmentation and class-agnostic instance classification in a single network using a pillar-based bird's-eye view…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

In this paper, we tackle a new task of 3D object synthesis, where a 3D model is composited with another object category to create a novel 3D model. However, most existing text/image/3D-to-3D methods struggle to effectively integrate…

Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Instance segmentation is one of the actively studied research topics in computer vision in which many objects of interest should be separated individually. While many feed-forward networks produce high-quality segmentation on different…

This work presents OVIR-3D, a straightforward yet effective method for open-vocabulary 3D object instance retrieval without using any 3D data for training. Given a language query, the proposed method is able to return a ranked set of 3D…

We propose SparseFusion, a sparse view 3D reconstruction approach that unifies recent advances in neural rendering and probabilistic image generation. Existing approaches typically build on neural rendering with re-projected features but…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

Map-free relocalization technology is crucial for applications in autonomous navigation and augmented reality, but relying on pre-built maps is often impractical. It faces significant challenges due to limitations in matching methods and…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…

Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…

Microstructure reconstruction is an important cornerstone to the inverse materials design concept. In this work, a general algorithm is developed to reconstruct a three-dimensional microstructure from given descriptors. Based on…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…