相关论文: SGAligner : 3D Scene Alignment with Scene Graphs

World building with 3D scene representations is increasingly important for content creation, simulation, and interactive experiences, yet real workflows are inherently iterative: creators must repeatedly extend an existing scene under user…

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language…

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…

Deep learning techniques have led to remarkable breakthroughs in the field of generic object detection and have spawned a lot of scene-understanding tasks in recent years. Scene graph has been the focus of research because of its powerful…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

Scene understanding is an essential and challenging task in computer vision. To provide the visually fundamental graphical structure of an image, the scene graph has received increased attention due to its powerful semantic representation.…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

There is a surge of interest in image scene graph generation (object, attribute and relationship detection) due to the need of building fine-grained image understanding models that go beyond object detection. Due to the lack of a good…

Scene graph generation (SGG) endeavors to predict visual relationships between pairs of objects within an image. Prevailing SGG methods traditionally assume a one-off learning process for SGG. This conventional paradigm may necessitate…

3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…

Zero-shot 3D visual grounding requires localizing objects in unstructured environments from free-form natural language. Recent vision-language model (VLM) approaches achieve promising results but rely on view-dependent reasoning or implicit…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

We introduce 3inGAN, an unconditional 3D generative model trained from 2D images of a single self-similar 3D scene. Such a model can be used to produce 3D "remixes" of a given scene, by mapping spatial latent codes into a 3D volumetric…

Understanding a visual scene goes beyond recognizing individual objects in isolation. Relationships between objects also constitute rich semantic information about the scene. In this work, we explicitly model the objects and their…

Controllable scene synthesis aims to create interactive environments for various industrial use cases. Scene graphs provide a highly suitable interface to facilitate these applications by abstracting the scene context in a compact manner.…

3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…

Integrating data from heterogeneous sources is often modeled as merging graphs. Given two or more 'compatible', but not-isomorphic graphs, the first step is to identify a graph alignment, where a potentially partial mapping of vertices…