相关论文: LODE: Locally Conditioned Eikonal Implicit Scene C…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-bounce light returns; these multi-bounce returns encode rich…

Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nevertheless, existing methods either heavily rely on known…

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…

Super-resolution of LiDAR range images is crucial to improving many downstream tasks such as object detection, recognition, and tracking. While deep learning has made a remarkable advances in super-resolution techniques, typical…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Neural networks have recently been used to analyze diverse physical systems and to identify the underlying dynamics. While existing methods achieve impressive results, they are limited by their strong demand for training data and their weak…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…

Semantic scene completion aims to infer the 3D geometric structures with semantic classes from camera or LiDAR, which provide essential occupancy information in autonomous driving. Prior endeavors concentrate on constructing the network or…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…