相关论文: Object-to-Scene: Learning to Transfer Object Knowl…

This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we…

Scene graph generation refers to the task of automatically mapping an image into a semantic structural graph, which requires correctly labeling each extracted object and their interaction relationships. Despite the recent success in object…

Our world can be succinctly and compactly described as structured scenes of objects and relations. A typical room, for example, contains salient objects such as tables, chairs and books, and these objects typically relate to each other by…

Context is important for accurate visual recognition. In this work we propose an object detection algorithm that not only considers object visual appearance, but also makes use of two kinds of context including scene contextual information…

Instance segmentation is an important problem in computer vision, with applications in autonomous driving, drone navigation and robotic manipulation. However, most existing methods are not real-time, complicating their deployment in…

The 3D scene editing method based on neural implicit field has gained wide attention. It has achieved excellent results in 3D editing tasks. However, existing methods often blend the interaction between objects and scene environment. The…

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

Autonomous driving systems require a quick and robust perception of the nearby environment to carry out their routines effectively. With the aim to avoid collisions and drive safely, autonomous driving systems rely heavily on object…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Recently, Vision Language Models (VLMs) have experienced significant advancements, yet these models still face challenges in spatial hierarchical reasoning within indoor scenes. In this study, we introduce ROOT, a VLM-based system designed…

In the past decade, object detection tasks are defined mostly by large public datasets. However, building object detection datasets is not scalable due to inefficient image collecting and labeling. Furthermore, most labels are still in the…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

The image annotation stage is a critical and often the most time-consuming part required for training and evaluating object detection and semantic segmentation models. Deployment of the existing models in novel environments often requires…

Objects and their relationships are critical contents for image understanding. A scene graph provides a structured description that captures these properties of an image. However, reasoning about the relationships between objects is very…

Object recognition in unseen indoor environments remains a challenging problem for visual perception of mobile robots. In this letter, we propose the use of topologically persistent features, which rely on the objects' shape information, to…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…