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

3D scene understanding plays a fundamental role in vision applications such as robotics, autonomous driving, and augmented reality. However, advancing learning-based 3D scene understanding remains challenging due to two key limitations: (1)…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Understanding human behaviour in crowded indoor environments is central to surveillance, smart buildings, and human-robot interaction, yet existing datasets rarely capture real-world indoor complexity at scale. We introduce IndoorCrowd, a…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

For undergraduate students of computing, learning to solve complex practical problems in a team is an essential skill for their future careers. This skill is needed in various fields, such as in cybersecurity and IT governance. Tabletop…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

Controllable scene synthesis aims to create interactive environments for various industrial use cases. Scene graphs provide a highly suitable interface to facilitate these applications by abstracting the scene context in a compact manner.…

Scene classification, aiming at classifying a scene image to one of the predefined scene categories by comprehending the entire image, is a longstanding, fundamental and challenging problem in computer vision. The rise of large-scale…

Real-world scenes, such as those in ScanNet, are difficult to capture, with highly limited data available. Generating realistic scenes with varied object poses remains an open and challenging task. In this work, we propose FactoredScenes, a…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…

The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…

Recognizing arbitrary or previously unseen categories is essential for comprehensive real-world 3D scene understanding. Currently, all existing methods rely on 2D or textual modalities during training or together at inference. This…

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…

Recent advances of 3D acquisition devices have enabled large-scale acquisition of 3D scene data. Such data, if completely and well annotated, can serve as useful ingredients for a wide spectrum of computer vision and graphics works such as…

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…

Generating simulation-ready tabletop scenes from task instructions is an intriguing and promising research direction in the field of Embodied AI. However, existing task-to-scene generation methods rely exclusively on large language models…

Deriving compact and temporally aware visual representations from dynamic scenes is essential for successful execution of sequential scene understanding tasks such as visual tracking and robotic manipulation. In this paper, we introduce…

A long-standing goal in computer vision is to capture, model, and realistically synthesize human behavior. Specifically, by learning from data, our goal is to enable virtual humans to navigate within cluttered indoor scenes and naturally…