相关论文: UnScene3D: Unsupervised 3D Instance Segmentation f…

Most recent 3D instance segmentation methods are open vocabulary, offering a greater flexibility than closed-vocabulary methods. Yet, they are limited to reasoning within a specific set of concepts, \ie the vocabulary, prompted by the user…

Masked Modeling (MM) has demonstrated widespread success in various vision challenges, by reconstructing masked visual patches. Yet, applying MM for large-scale 3D scenes remains an open problem due to the data sparsity and scene…

3D instance segmentation is crucial for understanding complex 3D environments, yet fully supervised methods require dense point-level annotations, resulting in substantial annotation costs and labor overhead. To mitigate this, box-level…

This paper presents a weakly-supervised approach to object instance segmentation. Starting with known or predicted object bounding boxes, we learn object masks by playing a game of cut-and-paste in an adversarial learning setup. A mask…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Reconstructing and decomposing dynamic urban scenes is crucial for autonomous driving, urban planning, and scene editing. However, existing methods fail to perform instance-aware decomposition without manual annotations, which is crucial…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Unsupervised 3D instance segmentation aims to segment objects from a 3D point cloud without any annotations. Existing methods face the challenge of either too loose or too tight clustering, leading to under-segmentation or…

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Panoptic segmentation methods assign a known class to each pixel given in input. Even for state-of-the-art approaches, this inevitably enforces decisions that systematically lead to wrong predictions for objects outside the training…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Separating 3D point clouds into individual instances is an important task for 3D vision. It is challenging due to the unknown and varying number of instances in a scene. Existing deep learning based works focus on a two-step pipeline: first…

Comprehending natural language instructions is a charming property for 3D indoor scene synthesis systems. Existing methods directly model object joint distributions and express object relations implicitly within a scene, thereby hindering…

An instance with a bad mask might make a composite image that uses it look fake. This encourages us to learn segmentation by generating realistic composite images. To achieve this, we propose a novel framework that exploits a new proposed…

Sketch segmentation involves grouping pixels within a sketch that belong to the same object or instance. It serves as a valuable tool for sketch editing tasks, such as moving, scaling, or removing specific components. While image…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

This paper addresses the semantic instance segmentation task in the open-set conditions, where input images can contain known and unknown object classes. The training process of existing semantic instance segmentation methods requires…