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

Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…

Reconstructing structured 3D scenes from RGB images using CAD objects unlocks efficient and compact scene representations that maintain compositionality and interactability. Existing works propose training-heavy methods relying on either…

This study introduces a novel approach to online embedding of multi-scale CLIP (Contrastive Language-Image Pre-Training) features into 3D maps. By harnessing CLIP, this methodology surpasses the constraints of conventional…

This work focuses on the semantic relations between scenes and objects for visual object recognition. Semantic knowledge can be a powerful source of information especially in scenarios with few or no annotated training samples. These…

Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…

This paper investigates the problem of zero-shot action recognition, in the setting where no training videos with seen actions are available. For this challenging scenario, the current leading approach is to transfer knowledge from the…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

Zero-shot learning (ZSL) for image classification focuses on recognizing novel categories that have no labeled data available for training. The learning is generally carried out with the help of mid-level semantic descriptors associated…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Understanding a 3D scene immediately with its exploration is essential for embodied tasks, where an agent must construct and comprehend the 3D scene in an online and nearly real-time manner. In this study, we propose EmbodiedSplat, an…

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…

Open-vocabulary semantic segmentation enables models to segment objects or image regions beyond fixed class sets, offering flexibility in dynamic environments. However, existing methods often rely on single-view images and struggle with…

Contrastive Language-Image Pre-training (CLIP) has made a remarkable breakthrough in open-vocabulary zero-shot image recognition. Many recent studies leverage the pre-trained CLIP models for image-level classification and manipulation. In…

Recent open-world 3D representation learning methods using Vision-Language Models (VLMs) to align 3D point cloud with image-text information have shown superior 3D zero-shot performance. However, CAD-rendered images for this alignment often…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Image caption generation is a long standing and challenging problem at the intersection of computer vision and natural language processing. A number of recently proposed approaches utilize a fully supervised object recognition model within…

Open-vocabulary querying in 3D space is crucial for enabling more intelligent perception in applications such as robotics, autonomous systems, and augmented reality. However, most existing methods rely on 2D pixel-level parsing, leading to…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…