相关论文: Dense Object Grounding in 3D Scenes

Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-specific embeddings that are tailored either for semantic…

While recent deep neural network models have achieved promising results on the image captioning task, they rely largely on the availability of corpora with paired image and sentence captions to describe objects in context. In this work, we…

We study weakly-supervised video object grounding: given a video segment and a corresponding descriptive sentence, the goal is to localize objects that are mentioned from the sentence in the video. During training, no object bounding boxes…

Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…

Despite recent progress in 3D-LLMs, they remain limited in accurately grounding language to visual and spatial elements in 3D environments. This limitation stems in part from training data that focuses on language reasoning rather than…

Video grounding aims to localize the corresponding video moment in an untrimmed video given a language query. Existing methods often address this task in an indirect way, by casting it as a proposal-and-match or fusion-and-detection…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

The camouflaged object detection (COD) task aims to identify and segment objects that blend into the background due to their similar color or texture. Despite the inherent difficulties of the task, COD has gained considerable attention in…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

Sequential grounding in 3D point clouds (SG3D) refers to locating sequences of objects by following text instructions for a daily activity with detailed steps. Current 3D visual grounding (3DVG) methods treat text instructions with multiple…

3D visual grounding aims to localize the object in 3D point cloud scenes that semantically corresponds to given natural language sentences. It is very critical for roadside infrastructure system to interpret natural languages and localize…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Dense captioning aims at simultaneously localizing semantic regions and describing these regions-of-interest (ROIs) with short phrases or sentences in natural language. Previous studies have shown remarkable progresses, but they are often…

Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…

Visual grounding aims to localize the object referred to in an image based on a natural language query. Although progress has been made recently, accurately localizing target objects within multiple-instance distractions (multiple objects…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

To perform tasks specified by natural language instructions, autonomous agents need to extract semantically meaningful representations of language and map it to visual elements and actions in the environment. This problem is called…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…