相关论文: OpenMask3D: Open-Vocabulary 3D Instance Segmentati…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

We propose SegVec3D, a novel framework for 3D point cloud instance segmentation that integrates attention mechanisms, embedding learning, and cross-modal alignment. The approach builds a hierarchical feature extractor to enhance geometric…

We introduce OpenShape, a method for learning multi-modal joint representations of text, image, and point clouds. We adopt the commonly used multi-modal contrastive learning framework for representation alignment, but with a specific focus…

Open-vocabulary semantic segmentation aims to segment an image into semantic regions according to text descriptions, which may not have been seen during training. Recent two-stage methods first generate class-agnostic mask proposals and…

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…

Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…

We present a novel 3D instance segmentation framework for Multi-View Stereo (MVS) buildings in urban scenes. Unlike existing works focusing on semantic segmentation of urban scenes, the emphasis of this work lies in detecting and segmenting…

Open-Vocabulary Segmentation (OVS) methods offer promising capabilities in detecting unseen object categories, but the category must be known and needs to be provided by a human, either via a text prompt or pre-labeled datasets, thus…

Open-vocabulary 3D instance segmentation seeks to segment and classify instances beyond the annotated label space. Existing methods typically map 3D instances to 2D RGB-D images, and then employ vision-language models (VLMs) for…

Reliable 3D instance segmentation is fundamental to language-grounded robotic manipulation. Its critical application lies in cluttered environments, where occlusions, limited viewpoints, and noisy masks degrade perception. To address these…

3D part segmentation is a crucial and challenging task in 3D perception, playing a vital role in applications such as robotics, 3D generation, and 3D editing. Recent methods harness the powerful Vision Language Models (VLMs) for 2D-to-3D…

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…

3D scene understanding has been transformed by open-vocabulary language models that enable interaction via natural language. However, at present the evaluation of these representations is limited to datasets with closed-set semantics that…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Open-vocabulary instance segmentation aims at segmenting novel classes without mask annotations. It is an important step toward reducing laborious human supervision. Most existing works first pretrain a model on captioned images covering…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Open-vocabulary part segmentation (OVPS) is an emerging research area focused on segmenting fine-grained entities using diverse and previously unseen vocabularies. Our study highlights the inherent complexities of part segmentation due to…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

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…

Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…