相关论文: RegionPLC: Regional Point-Language Contrastive Lea…

Object detection is crucial for ensuring safe autonomous driving. However, data-driven approaches face challenges when encountering minority or novel objects in the 3D driving scene. In this paper, we propose VisLED, a language-driven…

Prompt learning has emerged as an efficient and effective approach for transferring foundational Vision-Language Models (e.g., CLIP) to downstream tasks. However, current methods tend to overfit to seen categories, thereby limiting their…

Vision-Language Pre-Trained models, notably CLIP, that utilize contrastive learning have proven highly adept at extracting generalizable visual features. To inherit the well-learned knowledge of VLP models for downstream tasks, several…

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…

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D…

The visual commonsense reasoning (VCR) task is to choose an answer and provide a justifying rationale based on the given image and textural question. Representative works first recognize objects in images and then associate them with key…

Place recognition is an essential and challenging task in loop closing and global localization for robotics and autonomous driving applications. Benefiting from the recent advances in deep learning techniques, the performance of LiDAR place…

Towards holistic understanding of 3D scenes, a general 3D segmentation method is needed that can segment diverse objects without restrictions on object quantity or categories, while also reflecting the inherent hierarchical structure. To…

Local alignment between medical images and text is essential for accurate diagnosis, though it remains challenging due to the absence of natural local pairings and the limitations of rigid region recognition methods. Traditional approaches…

3D Vision-Language Pre-training (3D-VLP) aims to provide a pre-train model which can bridge 3D scenes with natural language, which is an important technique for embodied intelligence. However, current 3D-VLP datasets are hindered by limited…

Understanding the semantics of individual regions or patches of unconstrained images, such as open-world object detection, remains a critical yet challenging task in computer vision. Building on the success of powerful image-level…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

This paper introduces OpenGaussian, a method based on 3D Gaussian Splatting (3DGS) capable of 3D point-level open vocabulary understanding. Our primary motivation stems from observing that existing 3DGS-based open vocabulary methods mainly…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Point cloud segmentation is fundamental in understanding 3D environments. However, current 3D point cloud segmentation methods usually perform poorly on scene boundaries, which degenerates the overall segmentation performance. In this…

Vision-language models (VLMs) have demonstrated strong cross-modal capabilities, yet most work remains limited to 2D data and assumes binary supervision (i.e., positive vs. negative pairs), overlooking the continuous and structured…