相关论文: Towards Part-Based Understanding of RGB-D Scans

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

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…

Predicting the future is an important aspect for decision-making in robotics or autonomous driving systems, which heavily rely upon visual scene understanding. While prior work attempts to predict future video pixels, anticipate activities…

Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

Important high-level vision tasks such as human-object interaction, image captioning and robotic manipulation require rich semantic descriptions of objects at part level. Based upon previous work on part localization, in this paper, we…

In this work, we propose SAM3D, a novel framework that is able to predict masks in 3D point clouds by leveraging the Segment-Anything Model (SAM) in RGB images without further training or finetuning. For a point cloud of a 3D scene with…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Over the past years, computer vision community has contributed to enormous progress in semantic image segmentation, a per-pixel classification task, crucial for dense scene understanding and rapidly becoming vital in lots of real-world…