相关论文: Scan2LoD3: Reconstructing semantic 3D building mod…

This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, metal etc.) in a scene is important for many tasks, e.g. robotic…

3D semantic segmentation (3DSS) is an essential process in the creation of a safe autonomous driving system. However, deep learning models for 3D semantic segmentation often suffer from the class imbalance problem and out-of-distribution…

Although perception systems have made remarkable advancements in recent years, particularly in 2D reasoning segmentation, these systems still rely on explicit human instruction or pre-defined categories to identify target objects before…

On-the-fly 3D reconstruction from monocular image sequences is a long-standing challenge in computer vision, critical for applications such as real-to-sim, AR/VR, and robotics. Existing methods face a major tradeoff: per-scene optimization…

Reconstructing urban areas in 3D out of satellite raster images has been a long-standing and challenging goal of both academical and industrial research. The rare methods today achieving this objective at a Level Of Details $2$ rely on…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…

Recent advances in Multimodal Large Language Models (MLLMs) have expanded reasoning capabilities into 3D domains, enabling fine-grained spatial understanding. However, the substantial size of 3D MLLMs and the high dimensionality of input…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

The accurate representation of 3D building models in urban environments is significantly hindered by challenges such as texture occlusion, blurring, and missing details, which are difficult to mitigate through standard photogrammetric…

In many robotic applications, especially for the autonomous driving, understanding the semantic information and the geometric structure of surroundings are both essential. Semantic 3D maps, as a carrier of the environmental knowledge, are…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

High-fidelity 3D reconstruction is critical for aerial inspection tasks such as infrastructure monitoring, structural assessment, and environmental surveying. While traditional photogrammetry techniques enable geometric modeling, they lack…

The cross-modal 3D retrieval task aims to achieve mutual matching between text descriptions and 3D shapes. This has the potential to enhance the interaction between natural language and the 3D environment, especially within the realms of…

Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

With the emergence of Gaussian Splats, recent efforts have focused on large-scale scene geometric reconstruction. However, most of these efforts either concentrate on memory reduction or spatial space division, neglecting information in the…

Explainable numerical representations or latent information of otherwise complex datasets are more convenient to analyze and study. These representations assist in identifying clusters and outliers, assess similar data points, and explore…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on low-level geometric or image features may cause high…