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

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

Scene Graph Generation (SGG) remains a challenging visual understanding task due to its compositional property. Most previous works adopt a bottom-up, two-stage or point-based, one-stage approach, which often suffers from high time…

3D Gaussian Splatting (3DGS) serves as a highly performant and efficient encoding of scene geometry, appearance, and semantics. Moreover, grounding language in 3D scenes has proven to be an effective strategy for 3D scene understanding.…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Scene Graph Generation (SGG) aims to explore the relationships between objects in images and obtain scene summary graphs, thereby better serving downstream tasks. However, the long-tailed problem has adversely affected the scene graph's…

Scene graph generation (SGG) analyzes images to extract meaningful information about objects and their relationships. In the dynamic visual world, it is crucial for AI systems to continuously detect new objects and establish their…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…

Spatio-temporal scene graphs represent interactions in a video by decomposing scenes into individual objects and their pair-wise temporal relationships. Long-term anticipation of the fine-grained pair-wise relationships between objects is a…

This paper presents DENSER, an efficient and effective approach leveraging 3D Gaussian splatting (3DGS) for the reconstruction of dynamic urban environments. While several methods for photorealistic scene representations, both implicitly…

We propose an efficient and interpretable scene graph generator. We consider three types of features: visual, spatial and semantic, and we use a late fusion strategy such that each feature's contribution can be explicitly investigated. We…

Simulation is crucial for developing and evaluating autonomous vehicle (AV) systems. Recent literature builds on a new generation of generative models to synthesize highly realistic images for full-stack simulation. However, purely…

Controllable scene synthesis consists of generating 3D information that satisfy underlying specifications. Thereby, these specifications should be abstract, i.e. allowing easy user interaction, whilst providing enough interface for detailed…

We introduce a method to generate 3D scenes that are disentangled into their component objects. This disentanglement is unsupervised, relying only on the knowledge of a large pretrained text-to-image model. Our key insight is that objects…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Scene graph generation aims to detect visual relationship triplets, (subject, predicate, object). Due to biases in data, current models tend to predict common predicates, e.g. "on" and "at", instead of informative ones, e.g. "standing on"…

Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…

Scene graph is a structured representation of a scene that can clearly express the objects, attributes, and relationships between objects in the scene. As computer vision technology continues to develop, people are no longer satisfied with…