相关论文: Model2Scene: Learning 3D Scene Representation via …

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Unsupervised learning with generative models has the potential of discovering rich representations of 3D scenes. While geometric deep learning has explored 3D-structure-aware representations of scene geometry, these models typically require…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

We propose a novel scene flow method that captures 3D motions from point clouds without relying on ground-truth scene flow annotations. Due to the irregularity and sparsity of point clouds, it is expensive and time-consuming to acquire…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

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…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

3D object detection aims to recover the 3D information of concerning objects and serves as the fundamental task of autonomous driving perception. Its performance greatly depends on the scale of labeled training data, yet it is costly to…

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to…

We present Scan2CAD, a novel data-driven method that learns to align clean 3D CAD models from a shape database to the noisy and incomplete geometry of a commodity RGB-D scan. For a 3D reconstruction of an indoor scene, our method takes as…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

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…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

The Dynamic Saliency Prediction (DSP) task simulates the human selective attention mechanism to perceive the dynamic scene, which is significant and imperative in many vision tasks. Most of existing methods only consider visual cues, while…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However,…