相关论文: VL-SAT: Visual-Linguistic Semantics Assisted Train…

3D visual grounding aims at grounding a natural language description about a 3D scene, usually represented in the form of 3D point clouds, to the targeted object region. Point clouds are sparse, noisy, and contain limited semantic…

Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Current video-based scene graph generation (VidSGG) methods have been found to perform poorly on predicting predicates that are less represented due to the inherent biased distribution in the training data. In this paper, we take a closer…

Panoptic Scene Graph Generation (PSG) aims at achieving a comprehensive image understanding by simultaneously segmenting objects and predicting relations among objects. However, the long-tail problem among relations leads to unsatisfactory…

In recent years, vision language pre-training frameworks have made significant progress in natural language processing and computer vision, achieving remarkable performance improvement on various downstream tasks. However, when extended to…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

A scene graph is a structured representation of objects and their spatio-temporal relationships in dynamic scenes. Scene Graph Anticipation (SGA) involves predicting future scene graphs from video clips, enabling applications in intelligent…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…