相关论文: VoxFormer: Sparse Voxel Transformer for Camera-bas…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

3D semantic occupancy prediction aims to obtain 3D fine-grained geometry and semantics of the surrounding scene and is an important task for the robustness of vision-centric autonomous driving. Most existing methods employ dense grids such…

Monocular Semantic Scene Completion (SSC) aims to reconstruct complete 3D semantic scenes from a single RGB image, offering a cost-effective solution for autonomous driving and robotics. However, the inherently imbalanced nature of voxel…

Deep learning-based 3D object reconstruction has achieved unprecedented results. Among those, the transformer deep neural model showed outstanding performance in many applications of computer vision. We introduce SnakeVoxFormer, a novel, 3D…

Existing 3D open-vocabulary scene understanding methods mostly emphasize distilling language features from 2D foundation models into 3D feature fields, but largely overlook the synergy among scene appearance, semantics, and geometry. As a…

Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

We present ShapeFormer, a transformer-based network that produces a distribution of object completions, conditioned on incomplete, and possibly noisy, point clouds. The resultant distribution can then be sampled to generate likely…

We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…

Recent advances in fMRI-based visual decoding have enabled compelling reconstructions of perceived images. However, most approaches rely on subject-specific training, limiting scalability and practical deployment. We introduce…

Semantic scene completion (SSC) requires an accurate understanding of the geometric and semantic relationships between the objects in the 3D scene for reasoning the occluded objects. The popular SSC methods voxelize the 3D objects, allowing…

Generalizable neural surface reconstruction has become a compelling technique to reconstruct from few images without per-scene optimization, where dense 3D feature volume has proven effective as a global representation of scenes. However,…

Human visual recognition is a sparse process, where only a few salient visual cues are attended to rather than traversing every detail uniformly. However, most current vision networks follow a dense paradigm, processing every single visual…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

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…

Cross-modal 3D medical image analysis requires voxelwise representations that remain anatomically consistent across imaging contrasts, scanners, and acquisition protocols. Recent work has shown that frozen 2D Vision Transformer (ViT)…

We propose OpenVoxel, a training-free algorithm for grouping and captioning sparse voxels for the open-vocabulary 3D scene understanding tasks. Given the sparse voxel rasterization (SVR) model obtained from multi-view images of a 3D scene,…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…