相关论文: ConceptFusion: Open-set Multimodal 3D Mapping

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

Deep learning is providing a wealth of new approaches to the problem of novel view synthesis, from Neural Radiance Field (NeRF) based approaches to end-to-end style architectures. Each approach offers specific strengths but also comes with…

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…

The recent popularity of text-to-image diffusion models (DM) can largely be attributed to the intuitive interface they provide to users. The intended generation can be expressed in natural language, with the model producing faithful…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant…

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Compared to images, videos better reflect real-world acquisition and possess valuable temporal cues. However, existing multi-sensor fusion research predominantly integrates complementary context from multiple images rather than videos due…

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…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…

Autonomous driving technology has the potential to transform transportation, but its wide adoption depends on the development of interpretable and transparent decision-making systems. Scene captioning, which generates natural language…

The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Large Language Models (LLMs) have shown impressive progress in mathematical reasoning. While data augmentation is promising to enhance mathematical problem-solving ability, current approaches are predominantly limited to instance-level…

In this paper, we address the challenging problem of 3D concept grounding (i.e. segmenting and learning visual concepts) by looking at RGBD images and reasoning about paired questions and answers. Existing visual reasoning approaches…