相关论文: Learning Object-Centric Representations of Multi-O…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Existing top-performance 3D object detectors typically rely on the multi-modal fusion strategy. This design is however fundamentally restricted due to overlooking the modality-specific useful information and finally hampering the model…

We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

We study the challenging problem of unsupervised multi-object segmentation on single images. Existing methods, which rely on image reconstruction objectives to learn objectness or leverage pretrained image features to group similar pixels,…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…

Annotating 3D data remains a costly bottleneck for 3D object detection, motivating the development of weakly supervised annotation methods that rely on more accessible 2D box annotations. However, relying solely on 2D boxes introduces…

Distance metric learning (DML) has been successfully applied to object classification, both in the standard regime of rich training data and in the few-shot scenario, where each category is represented by only a few examples. In this work,…

Multiview diffusion models have rapidly emerged as a powerful tool for content creation with spatial consistency across viewpoints, offering rich visual realism without requiring explicit geometry and appearance representation. However,…

We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

In this paper, we address the challenge of Perspective-Invariant Learning in machine learning and computer vision, which involves enabling a network to understand images from varying perspectives to achieve consistent semantic…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

We present a method that tackles the challenge of predicting color and depth behind the visible content of an image. Our approach aims at building up a Layered Depth Image (LDI) from a single RGB input, which is an efficient representation…