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

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

The variance in class-wise sample sizes within long-tailed scenarios often results in degraded performance in less frequent classes. Fortunately, foundation models, pre-trained on vast open-world datasets, demonstrate strong potential for…

Existing approaches for unsupervised 3D point cloud segmentation predominantly rely on a purely visual similarity-based learning-by-clustering paradigm, which suffers from a fundamental limitation: long-tail ambiguity. In such a paradigm,…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Multi-modal large language models (MLLMs) have shown remarkable progress in integrating visual and linguistic understanding. Recent efforts have extended these capabilities to 3D understanding through encoder-based architectures that rely…

3D object grounding aims to locate the most relevant target object in a raw point cloud scene based on a free-form language description. Understanding complex and diverse descriptions, and lifting them directly to a point cloud is a new and…

Semantic understanding and localization are fundamental enablers of robot autonomy that have for the most part been tackled as disjoint problems. While deep learning has enabled recent breakthroughs across a wide spectrum of scene…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…

This paper presents a new 3D point cloud classification benchmark data set with over four billion manually labelled points, meant as input for data-hungry (deep) learning methods. We also discuss first submissions to the benchmark that use…

3D Shape represented as point cloud has achieve advancements in multimodal pre-training to align image and language descriptions, which is curial to object identification, classification, and retrieval. However, the discrete representations…

The advancement of 3D vision-language (3D VL) learning is hindered by several limitations in existing 3D VL datasets: they rarely necessitate reasoning beyond a close range of objects in single viewpoint, and annotations often link…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Understanding realistic visual scene images together with language descriptions is a fundamental task towards generic visual understanding. Previous works have shown compelling comprehensive results by building hierarchical structures for…

Scene Graph Generation (SGG) converts visual scenes into structured graph representations, providing deeper scene understanding for complex vision tasks. However, existing SGG models often overlook essential spatial relationships and…