相关论文: Extracting Zero-shot Common Sense from Large Langu…

Zero-shot learning aims to recognize instances of unseen classes, for which no visual instance is available during training, by learning multimodal relations between samples from seen classes and corresponding class semantic…

Zero-shot learning relies on semantic class representations such as hand-engineered attributes or learned embeddings to predict classes without any labeled examples. We propose to learn class representations by embedding nodes from common…

Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…

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…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Zero-shot learning (ZSL) models rely on learning a joint embedding space where both textual/semantic description of object classes and visual representation of object images can be projected to for nearest neighbour search. Despite the…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their…

Scene models allow robots to reason about what is in the scene, what else should be in it, and what should not be in it. In this paper, we propose a hybrid Boltzmann Machine (BM) for scene modeling where relations between objects are…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Scene understanding is critical for various downstream tasks in autonomous driving, including facilitating driver-agent communication and enhancing human-centered explainability of autonomous vehicle (AV) decisions. This paper evaluates the…

We propose a novel zero-shot approach for keypoint detection on 3D shapes. Point-level reasoning on visual data is challenging as it requires precise localization capability, posing problems even for powerful models like DINO or CLIP.…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

Zero-shot learning deals with the ability to recognize objects without any visual training sample. To counterbalance this lack of visual data, each class to recognize is associated with a semantic prototype that reflects the essential…

Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…