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

3D-aware GANs aim to synthesize realistic 3D scenes such that they can be rendered in arbitrary perspectives to produce images. Although previous methods produce realistic images, they suffer from unstable training or degenerate solutions…

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

High-quality novel view synthesis for large-scale scenes presents a challenging dilemma in 3D computer vision. Existing methods typically partition large scenes into multiple regions, reconstruct a 3D representation using Gaussian splatting…

This work presents the introduction of UniSG^GA, a novel integrated scenegraph structure, that to incorporates behavior and geometry data on a 3D scene. It is specifically designed to seamlessly integrate Graph Neural Networks (GNNs) and…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…

We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data.…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

A scene graph is a semantic representation that expresses the objects, attributes, and relationships between objects in a scene. Scene graphs play an important role in many cross modality tasks, as they are able to capture the interactions…

Scene Graph Generation (SGG) unifies object localization and visual relationship reasoning by predicting boxes and subject-predicate-object triples. Yet most pipelines treat SGG as a one-shot, deterministic classification problem rather…

Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…

Learning to build 3D scene graphs is essential for real-world perception in a structured and rich fashion. However, previous 3D scene graph generation methods utilize a fully supervised learning manner and require a large amount of…

Controllable 3D scene generation has extensive applications in virtual reality and interior design, where the generated scenes should exhibit high levels of realism and controllability in terms of geometry. Scene graphs provide a suitable…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

Indoor scene synthesis has become increasingly important with the rise of Embodied AI, which requires 3D environments that are not only visually realistic but also physically plausible and functionally diverse. While recent approaches have…

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…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for…