相关论文: Mix3D: Out-of-Context Data Augmentation for 3D Sce…

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…

We are witnessing significant breakthroughs in the technology for generating 3D objects from text. Existing approaches either leverage large text-to-image models to optimize a 3D representation or train 3D generators on object-centric…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

In this work, we propose the combined usage of low- and high-level blocks of convolutional neural networks (CNNs) for improving object recognition. While recent research focused on either propagating the context from all layers, e.g.…

In this paper, we propose Extend3D, a training-free pipeline for 3D scene generation from a single image, built upon an object-centric 3D generative model. To overcome the limitations of fixed-size latent spaces in object-centric models for…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

The recent development in multimodal learning has greatly advanced the research in 3D scene understanding in various real-world tasks such as embodied AI. However, most existing studies are facing two common challenges: 1) they are short of…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…

The volume and diversity of training data are critical for modern deep learningbased methods. Compared to the massive amount of labeled perspective images, 360 panoramic images fall short in both volume and diversity. In this paper, we…

Recent progress in image and video synthesis has inspired their use in advancing 3D scene generation. However, we observe that text-to-image and -video approaches struggle to maintain scene- and object-level consistency beyond a limited…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Foundation models have achieved remarkable results in 2D and language tasks like image segmentation, object detection, and visual-language understanding. However, their potential to enrich 3D scene representation learning is largely…

The whole is greater than the sum of its parts-even in 3D-text contrastive learning. We introduce SceneForge, a novel framework that enhances contrastive alignment between 3D point clouds and text through structured multi-object scene…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene…

Remote sensing scene classification plays a key role in Earth observation by enabling the automatic identification of land use and land cover (LULC) patterns from aerial and satellite imagery. Despite recent progress with convolutional…

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between…

Three-dimensional (3D) understanding of objects and scenes play a key role in humans' ability to interact with the world and has been an active area of research in computer vision, graphics, and robotics. Large scale synthetic and…