相关论文: TO-Scene: A Large-scale Dataset for Understanding …

Zero-Shot Object Navigation (ZSON) requires agents to autonomously locate and approach unseen objects in unfamiliar environments and has emerged as a particularly challenging task within the domain of Embodied AI. Existing datasets for…

Human perception of the world is shaped by a multitude of viewpoints and modalities. While many existing datasets focus on scene understanding from a certain perspective (e.g. egocentric or third-person views), our dataset offers a panoptic…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

Recent deep learning approaches in table detection achieved outstanding performance and proved to be effective in identifying document layouts. Currently, available table detection benchmarks have many limitations, including the lack of…

Real-world robotic tasks are long-horizon and often span multiple floors, demanding rich spatial reasoning. However, existing embodied benchmarks are largely confined to single-floor in-house environments, failing to reflect the complexity…

Text-driven 3D indoor scene generation holds broad applications, ranging from gaming and smart homes to AR/VR applications. Fast and high-fidelity scene generation is paramount for ensuring user-friendly experiences. However, existing…

Joint representation of geometry, colour and semantics using a 3D neural field enables accurate dense labelling from ultra-sparse interactions as a user reconstructs a scene in real-time using a handheld RGB-D sensor. Our iLabel system…

Deep neural networks have consistently shown great performance in several real-world use cases like autonomous vehicles, satellite imaging, etc., effectively leveraging large corpora of labeled training data. However, learning unbiased…

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale…

While 3D Multi-modal Large Language Models (MLLMs) demonstrate remarkable scene understanding capabilities, their practical deployment faces critical challenges due to computational inefficiency. The key bottleneck stems from processing…

This paper describes the COCO-Text dataset. In recent years large-scale datasets like SUN and Imagenet drove the advancement of scene understanding and object recognition. The goal of COCO-Text is to advance state-of-the-art in text…

Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…

The majority of artificial intelligence research, as it relates from which to biological senses has been focused on vision. The recent explosion of machine learning and in particular, dee p learning, can be partially attributed to the…

We present a method enabling the scaling of NeRFs to learn a large number of semantically-similar scenes. We combine two techniques to improve the required training time and memory cost per scene. First, we learn a 3D-aware latent space in…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

We introduce Scan2Plan, a novel approach for accurate estimation of a floorplan from a 3D scan of the structural elements of indoor environments. The proposed method incorporates a two-stage approach where the initial stage clusters an…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…

Driving scene generation is a critical domain for autonomous driving, enabling downstream applications, including perception and planning evaluation. Occupancy-centric methods have recently achieved state-of-the-art results by offering…

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…