相关论文: PartSLIP: Low-Shot Part Segmentation for 3D Point …

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

This paper revisits few-shot 3D point cloud semantic segmentation (FS-PCS), with a focus on two significant issues in the state-of-the-art: foreground leakage and sparse point distribution. The former arises from non-uniform point sampling,…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

While there has been a number of studies on Zero-Shot Learning (ZSL) for 2D images, its application to 3D data is still recent and scarce, with just a few methods limited to classification. We present the first generative approach for both…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

Open-vocabulary semantic segmentation aims to segment an image into semantic regions according to text descriptions, which may not have been seen during training. Recent two-stage methods first generate class-agnostic mask proposals and…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

While there are novel point cloud semantic segmentation schemes that continuously surpass state-of-the-art results, the success of learning an effective model usually rely on the availability of abundant labeled data. However, data…

Out-of-distribution (OOD) detection in 3D point cloud data remains a challenge, particularly in applications where safe and robust perception is critical. While existing OOD detection methods have shown progress for 2D image data, extending…

While vision-language models like CLIP have advanced zero-shot surgical phase recognition, they struggle with fine-grained surgical activities, especially action triplets. This limitation arises because current CLIP formulations rely on…

Fine-grained classification often requires recognizing specific object parts, such as beak shape and wing patterns for birds. Encouraging a fine-grained classification model to first detect such parts and then using them to infer the class…

Competitive point cloud semantic segmentation results usually rely on a large amount of labeled data. However, data annotation is a time-consuming and labor-intensive task, particularly for three-dimensional point cloud data. Thus,…

The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of…

Large-scale pre-trained models have demonstrated impressive performance in vision and language tasks within open-world scenarios. Due to the lack of comparable pre-trained models for 3D shapes, recent methods utilize language-image…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

Self-supervised and language-supervised image models contain rich knowledge of the world that is important for generalization. Many robotic tasks, however, require a detailed understanding of 3D geometry, which is often lacking in 2D image…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

Pre-trained vision-language models learn massive data to model unified representations of images and natural languages, which can be widely applied to downstream machine learning tasks. In addition to zero-shot inference, in order to better…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…