相关论文: Bridging the Domain Gap: Self-Supervised 3D Scene …

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Foundation models have significantly enhanced 2D task performance, and recent works like Bridge3D have successfully applied these models to improve 3D scene understanding through knowledge distillation, marking considerable advancements.…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

Current successful methods of 3D scene perception rely on the large-scale annotated point cloud, which is tedious and expensive to acquire. In this paper, we propose Model2Scene, a novel paradigm that learns free 3D scene representation…

We tackle open-vocabulary 3D scene understanding by introducing a novel data generation pipeline and training framework. Our method addresses three critical requirements for effective training: precise 3D region segmentation, comprehensive…

Understanding 3D scenes is a crucial challenge in computer vision research with applications spanning multiple domains. Recent advancements in distilling 2D vision-language foundation models into neural fields, like NeRF and 3DGS, enable…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

Masked Modeling (MM) has demonstrated widespread success in various vision challenges, by reconstructing masked visual patches. Yet, applying MM for large-scale 3D scenes remains an open problem due to the data sparsity and scene…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Foundation models have recently gained tremendous popularity in medical image analysis. State-of-the-art methods leverage either paired image-text data via vision-language pre-training or unpaired image data via self-supervised pre-training…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

We propose a novel dataset that has been specifically designed for 3D semantic segmentation of bridges and the domain gap analysis caused by varying sensors. This addresses a critical need in the field of infrastructure inspection and…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Unsupervised domain adaptation (UDA) is vital for alleviating the workload of labeling 3D point cloud data and mitigating the absence of labels when facing a newly defined domain. Various methods of utilizing images to enhance the…

In this paper, we present Change3D, a framework that reconceptualizes the change detection and captioning tasks through video modeling. Recent methods have achieved remarkable success by regarding each pair of bi-temporal images as separate…

Robot foundation models are beginning to deliver on the promise of generalist robotic agents, yet progress remains constrained by the scarcity of large-scale real-world manipulation datasets. Simulation and synthetic data generation offer a…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…