相关论文: 3D Scene Graph Prediction on Point Clouds Using Kn…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

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…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

As a structured representation of the image content, the visual scene graph (visual relationship) acts as a bridge between computer vision and natural language processing. Existing models on the scene graph generation task notoriously…

Spatial computing experiences are constrained by the real-world surroundings of the user. In such experiences, augmenting virtual objects to existing scenes require a contextual approach, where geometrical conflicts are avoided, and…

In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

We present SceneSuggest: an interactive 3D scene design system providing context-driven suggestions for 3D model retrieval and placement. Using a point-and-click metaphor we specify regions in a scene in which to automatically place and…

Representing relevant information of a traffic scene and understanding its environment is crucial for the success of autonomous driving. Modeling the surrounding of an autonomous car using semantic relations, i.e., how different traffic…

Scene understanding is a fundamental capability needed in many domains, ranging from question-answering to robotics. Unlike recent end-to-end approaches that must explicitly learn varying compositions of the same scene, our method reasons…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…