相关论文: Multi-View Fusion for Multi-Level Robotic Scene Un…

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

Reasoning human object interactions is a core problem in human-centric scene understanding and detecting such relations poses a unique challenge to vision systems due to large variations in human-object configurations, multiple co-occurring…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

Multimodal deep sensor fusion has the potential to enable autonomous vehicles to visually understand their surrounding environments in all weather conditions. However, existing deep sensor fusion methods usually employ convoluted…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Existing scene understanding systems mainly focus on recognizing the visible parts of a scene, ignoring the intact appearance of physical objects in the real-world. Concurrently, image completion has aimed to create plausible appearance for…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…

There is an increasing number of real-world problems in computer vision and machine learning requiring to take into consideration multiple interpretation layers (modalities or views) of the world and learn how they relate to each other. For…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…