相关论文: DDS: Decoupled Dynamic Scene-Graph Generation Netw…

2D scene graphs provide a structural and explainable framework for scene understanding. However, current work still struggles with the lack of accurate scene graph data. To overcome this data bottleneck, we present CoPa-SG, a synthetic…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

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…

One object class may show large variations due to diverse illuminations, backgrounds and camera viewpoints. Traditional object detection methods often perform worse under unconstrained video environments. To address this problem, many…

Scene graph generation (SGG) is a fundamental task aimed at detecting visual relations between objects in an image. The prevailing SGG methods require all object classes to be given in the training set. Such a closed setting limits the…

Learning 3D generative models from a dataset of monocular images enables self-supervised 3D reasoning and controllable synthesis. State-of-the-art 3D generative models are GANs which use neural 3D volumetric representations for synthesis.…

Scene graphs are a powerful structured representation of the underlying content of images, and embeddings derived from them have been shown to be useful in multiple downstream tasks. In this work, we employ a graph convolutional network to…

Generating coherent and useful image/video scenes from a free-form textual description is technically a very difficult problem to handle. Textual description of the same scene can vary greatly from person to person, or sometimes even for…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

The ability to abstract complex 3D environments into simplified and structured representations is crucial across various domains. 3D semantic scene graphs (SSGs) achieve this by representing objects as nodes and their interrelationships as…

Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-Of-Freedom (DOF) single object grasping. Multi-finger grasping in cluttered scenes, on the other hand, remains mostly unexplored due to the added difficulty of…

This paper presents a novel method for generating diverse 3D human poses in scenes with semantic control. Existing methods heavily rely on the human-scene interaction dataset, resulting in a limited diversity of the generated human poses.…

Salient object detection plays an important role in many downstream tasks. However, complex real-world scenes with varying scales and numbers of salient objects still pose a challenge. In this paper, we directly address the problem of…

The problem of unsupervised learning node embeddings in graphs is one of the important directions in modern network science. In this work we propose a novel framework, which is aimed to find embeddings by \textit{discriminating…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

Dynamic scenes rendering is an intriguing yet challenging problem. Although current methods based on NeRF have achieved satisfactory performance, they still can not reach real-time levels. Recently, 3D Gaussian Splatting (3DGS) has garnered…

Scene graphs have become an important form of structured knowledge for tasks such as for image generation, visual relation detection, visual question answering, and image retrieval. While visualizing and interpreting word embeddings is well…

Graph Neural Networks (GNNs) have emerged as powerful tools for analyzing and learning representations from graph-structured data. A crucial prerequisite for the outstanding performance of GNNs is the availability of complete graph…

Motion prediction for traffic participants is essential for a safe and robust automated driving system, especially in cluttered urban environments. However, it is highly challenging due to the complex road topology as well as the uncertain…