相关论文: CLIPGraphs: Multimodal Graph Networks to Infer Obj…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from…

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

Vision-language models like CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions because of their training focus on short and concise captions. We present…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

Existing foundation models, such as CLIP, aim to learn a unified embedding space for multimodal data, enabling a wide range of downstream web-based applications like search, recommendation, and content classification. However, these models…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution…

In this paper, we propose an effective global relation learning algorithm to recommend an appropriate location of a building unit for in-game customization of residential home complex. Given a construction layout, we propose a visual…

Vision-language models (VLMs) such as CLIP are trained via contrastive learning between text and image pairs, resulting in aligned image and text embeddings that are useful for many downstream tasks. A notable drawback of CLIP, however, is…

In this paper, we explore the potential of Vision-Language Models (VLMs), specifically CLIP, in predicting visual object relationships, which involves interpreting visual features from images into language-based relations. Current…

Objects and their relationships are critical contents for image understanding. A scene graph provides a structured description that captures these properties of an image. However, reasoning about the relationships between objects is very…

Visual place recognition is essential for vision-based robot localization and SLAM. Despite the tremendous progress made in recent years, place recognition in changing environments remains challenging. A promising approach to cope with…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

The goal of this paper is to detect objects by exploiting their interrelationships. Contrary to existing methods, which learn objects and relations separately, our key idea is to learn the object-relation distribution jointly. We first…

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…

Cinemagraphs are a compelling way to convey dynamic aspects of a scene. In these media, dynamic and still elements are juxtaposed to create an artistic and narrative experience. Creating a high-quality, aesthetically pleasing cinemagraph…