相关论文: Habitat-Matterport 3D Semantics Dataset

In this paper, we introduce the InLUT3D point cloud dataset, a comprehensive resource designed to advance the field of scene understanding in indoor environments. The dataset covers diverse spaces within the W7 faculty buildings of Lodz…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…

The development of computer vision algorithms for Unmanned Aerial Vehicles (UAVs) imagery heavily relies on the availability of annotated high-resolution aerial data. However, the scarcity of large-scale real datasets with pixel-level…

Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…

Among the most important prerequisites for creating and evaluating 6D object pose detectors are datasets with labeled 6D poses. With the advent of deep learning, demand for such datasets is growing continuously. Despite the fact that some…

Recent 3D retrieval systems are typically designed for simple, controlled scenarios, such as identifying an object from a cropped image or a brief description. However, real-world scenarios are more complex, often requiring the recognition…

Referring Multi-Object Tracking (RMOT) aims to track specific targets based on language descriptions and is vital for interactive AI systems such as robotics and autonomous driving. However, existing RMOT models rely solely on 2D RGB data,…

We present a novel dataset for training and benchmarking semantic SLAM methods. The dataset consists of 200 long sequences, each one containing 3000-5000 data frames. We generate the sequences using realistic home layouts. For that we…

3D dense captioning stands as a cornerstone in achieving a comprehensive understanding of 3D scenes through natural language. It has recently witnessed remarkable achievements, particularly in indoor settings. However, the exploration of 3D…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Training embodied agents to understand 3D scenes as humans do requires large-scale data of people meaningfully interacting with diverse environments, yet such data is scarce. Real-world capture is costly and limited to controlled settings,…

Answering questions about the spatial properties of the environment poses challenges for existing language and vision foundation models due to a lack of understanding of the 3D world notably in terms of relationships between objects. To…

3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a…

Semantic scene understanding is crucial for robust and safe autonomous navigation, particularly so in off-road environments. Recent deep learning advances for 3D semantic segmentation rely heavily on large sets of training data, however…

We present a novel active learning framework for 3D point cloud semantic segmentation that, for the first time, integrates large language models (LLMs) to construct hierarchical label structures and guide uncertainty-based sample selection.…

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…

3D Clothing modeling and datasets play crucial role in the entertainment, animation, and digital fashion industries. Existing work often lacks detailed semantic understanding or uses synthetic datasets, lacking realism and personalization.…

A key proficiency an autonomous mobile robot must have to perform high-level tasks is a strong understanding of its environment. This involves information about what types of objects are present, where they are, what their spatial extend…

The convergence of 3D geometric perception and video synthesis has created an unprecedented demand for large-scale video data that is rich in both semantic and spatio-temporal information. While existing datasets have advanced either 3D…