相关论文: Habitat-Matterport 3D Semantics Dataset

3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representations is limited to datasets with closed-set semantics that…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

Large-scale 2D datasets have been instrumental in advancing machine learning; however, progress in 3D vision tasks has been relatively slow. This disparity is largely due to the limited availability of 3D benchmarking datasets. In…

Transparent objects are ubiquitous in household settings and pose distinct challenges for visual sensing and perception systems. The optical properties of transparent objects leave conventional 3D sensors alone unreliable for object depth…

Grounding natural language in 3D environments is a critical step toward achieving robust 3D vision-language alignment. Current datasets and models for 3D visual grounding predominantly focus on identifying and localizing objects from…

Teaching an agent to navigate in an unseen 3D environment is a challenging task, even in the event of simulated environments. To generalize to unseen environments, an agent needs to be robust to low-level variations (e.g. color, texture,…

Identifying and classifying underground utilities is an important task for efficient and effective urban planning and infrastructure maintenance. We present OpenTrench3D, a novel and comprehensive 3D Semantic Segmentation point cloud…

Traditional approaches for learning 3D object categories have been predominantly trained and evaluated on synthetic datasets due to the unavailability of real 3D-annotated category-centric data. Our main goal is to facilitate advances in…

We propose a method for annotating images of a hand manipulating an object with the 3D poses of both the hand and the object, together with a dataset created using this method. Our motivation is the current lack of annotated real images for…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

The semantic understanding of indoor 3D point cloud data is crucial for a range of subsequent applications, including indoor service robots, navigation systems, and digital twin engineering. Global features are crucial for achieving…

Accurate and efficient object detection is crucial for safe and efficient operation of earth-moving equipment in mining. Traditional 2D image-based methods face limitations in dynamic and complex mine environments. To overcome these…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

Systematic evaluation of speech separation and enhancement models under moving sound source conditions requires extensive and diverse data. However, real-world datasets often lack sufficient data for training and evaluation, and synthetic…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Recently, 3D understanding has become popular to facilitate autonomous agents to perform further decisionmaking. However, existing 3D datasets and methods are often limited to specific tasks. On the other hand, recent progress in Large…

Recent advances in 3D semantic segmentation with deep neural networks have shown remarkable success, with rapid performance increase on available datasets. However, current 3D semantic segmentation benchmarks contain only a small number of…