相关论文: Language-Assisted 3D Feature Learning for Semantic…

3D scene understanding spans reasoning about free space, object grounding, hypothetical object insertions, complex geometric relationships, and integrating all of these with external tools and data sources. Existing 3D understanding methods…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

Accurately reconstructing a 3D scene including explicit geometry information is both attractive and challenging. Geometry reconstruction can benefit from incorporating differentiable appearance models, such as Neural Radiance Fields and 3D…

Multimodal Large Language Models (MLLMs) have made significant progress in tasks such as image captioning and question answering. However, while these models can generate realistic captions, they often struggle with providing precise…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

Large language models (LLMs) have achieved remarkable success in text-based tasks but often struggle to provide actionable guidance in real-world physical environments. This is because of their inability to recognize their limited…

Vision-language alignment learned from image-caption pairs has been shown to benefit tasks like object recognition and detection. Methods are mostly evaluated in terms of how well object class names are learned, but captions also contain…

Comprehensive semantic segmentation is one of the key components for robust scene understanding and a requirement to enable autonomous driving. Driven by large scale datasets, convolutional neural networks show impressive results on this…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

Class-agnostic 3D instance segmentation tackles the challenging task of segmenting all object instances, including previously unseen ones, without semantic class reliance. Current methods struggle with generalization due to the scarce…

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,…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

Scene representations using 3D Gaussian primitives have produced excellent results in modeling the appearance of static and dynamic 3D scenes. Many graphics applications, however, demand the ability to manipulate both the appearance and the…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…