相关论文: OpenScene: 3D Scene Understanding with Open Vocabu…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…

Open-vocabulary segmentation, powered by large visual-language models like CLIP, has expanded 2D segmentation capabilities beyond fixed classes predefined by the dataset, enabling zero-shot understanding across diverse scenes. Extending…

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)…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

In the field of 3D content generation, single image scene reconstruction methods still struggle to simultaneously ensure the quality of individual assets and the coherence of the overall scene in complex environments, while texture editing…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

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…

Semantic segmentation is a crucial task in computer vision that involves segmenting images into semantically meaningful regions at the pixel level. However, existing approaches often rely on expensive human annotations as supervision for…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Semantic segmentation models are limited in their ability to scale to large numbers of object classes. In this paper, we introduce the new task of zero-shot semantic segmentation: learning pixel-wise classifiers for never-seen object…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…