相关论文: OmniObject3D: Large-Vocabulary 3D Object Dataset f…
6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to…
Recognizing scenes and objects in 3D from a single image is a longstanding goal of computer vision with applications in robotics and AR/VR. For 2D recognition, large datasets and scalable solutions have led to unprecedented advances. In 3D,…
Traditional approaches for learning 3D object categories have been predominantly trained and evaluated on synthetic datasets due to the unavailability of real 3D-annotated category-centric data. Our main goal is to facilitate advances in…
A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…
Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…
The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…
Recent advances in detecting arbitrary objects in the real world are trained and evaluated on object detection datasets with a relatively restricted vocabulary. To facilitate the development of more general visual object detection, we…
We present the Habitat-Matterport 3D Open Vocabulary Object Goal Navigation dataset (HM3D-OVON), a large-scale benchmark that broadens the scope and semantic range of prior Object Goal Navigation (ObjectNav) benchmarks. Leveraging the…
Multisensory object-centric perception, reasoning, and interaction have been a key research topic in recent years. However, the progress in these directions is limited by the small set of objects available -- synthetic objects are not…
Recent advancements in radiance field rendering, exemplified by Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have significantly progressed 3D modeling and reconstruction. The use of multiple 360-degree omnidirectional…
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…
Objects play a crucial role in our everyday activities. Though multisensory object-centric learning has shown great potential lately, the modeling of objects in prior work is rather unrealistic. ObjectFolder 1.0 is a recent dataset that…
Language-based object detection is a promising direction towards building a natural interface to describe objects in images that goes far beyond plain category names. While recent methods show great progress in that direction, proper…
Recent advancements in 3D object detection and novel category detection have made significant progress, yet research on learning generalized 3D objectness remains insufficient. In this paper, we delve into learning open-world 3D objectness,…
While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…
Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…
3D object detection has recently become popular due to many applications in robotics, augmented reality, autonomy, and image retrieval. We introduce the Objectron dataset to advance the state of the art in 3D object detection and foster new…
The field of 4D world modeling - aiming to jointly capture spatial geometry and temporal dynamics - has witnessed remarkable progress in recent years, driven by advances in large-scale generative models and multimodal learning. However, the…
Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…
Natural language processing and 2D vision models have attained remarkable proficiency on many tasks primarily by escalating the scale of training data. However, 3D vision tasks have not seen the same progress, in part due to the challenges…