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

We present a new pre-training strategy called M$^{3}$3D ($\underline{M}$ulti-$\underline{M}$odal $\underline{M}$asked $\underline{3D}$) built based on Multi-modal masked autoencoders that can leverage 3D priors and learned cross-modal…

Existing generative approaches for guided image synthesis of multi-object scenes typically rely on 2D controls in the image or text space. As a result, these methods struggle to maintain and respect consistent three-dimensional geometric…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

We present a scene parsing method that utilizes global context information based on both the parametric and non- parametric models. Compared to previous methods that only exploit the local relationship between objects, we train a context…

The ability to map descriptions of scenes to 3D geometric representations has many applications in areas such as art, education, and robotics. However, prior work on the text to 3D scene generation task has used manually specified object…

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…

Multi-modal 3D scene understanding has gained considerable attention due to its wide applications in many areas, such as autonomous driving and human-computer interaction. Compared to conventional single-modal 3D understanding, introducing…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

Masked Modeling (MM) has demonstrated widespread success in various vision challenges, by reconstructing masked visual patches. Yet, applying MM for large-scale 3D scenes remains an open problem due to the data sparsity and scene…

Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

In this paper, we present Change3D, a framework that reconceptualizes the change detection and captioning tasks through video modeling. Recent methods have achieved remarkable success by regarding each pair of bi-temporal images as separate…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

Despite recent advancements in neural 3D reconstruction, the dependence on dense multi-view captures restricts their broader applicability. Additionally, 3D scene generation is vital for advancing embodied AI and world models, which depend…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We present LT3SD, a novel latent diffusion model for large-scale 3D scene generation. Recent advances in diffusion models have shown impressive results in 3D object generation, but are limited in spatial extent and quality when extended to…

Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…

We present a novel algorithm for estimating the broad 3D geometric structure of outdoor video scenes. Leveraging spatio-temporal video segmentation, we decompose a dynamic scene captured by a video into geometric classes, based on…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…