相关论文: Uni3D: Exploring Unified 3D Representation at Scal…
Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Existing multi-modal 3D detection models usually involve customized designs depending on the sensor combinations or setups. In this…
As a pioneering work, PointContrast conducts unsupervised 3D representation learning via leveraging contrastive learning over raw RGB-D frames and proves its effectiveness on various downstream tasks. However, the trend of large-scale…
The development of 3D medical vision-language models holds significant potential for disease diagnosis and patient treatment. However, compared to 2D medical images, 3D medical images, such as CT scans, face challenges related to limited…
Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…
If robots are to work effectively alongside people, they must be able to interpret natural language references to objects in their 3D environment. Understanding 3D referring expressions is challenging -- it requires the ability to both…
Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…
Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…
Existing diffusion-based 3D scene generation methods primarily operate in 2D image/video latent spaces, which makes maintaining cross-view appearance and geometric consistency inherently challenging. To bridge this gap, we present OneWorld,…
The 3D visual grounding task aims to ground a natural language description to the targeted object in a 3D scene, which is usually represented in 3D point clouds. Previous works studied visual grounding under specific views. The…
3D scene generation has long been dominated by 2D multi-view or video diffusion models. This is due not only to the lack of scene-level 3D latent representation, but also to the fact that most scene-level 3D visual data exists in the form…
Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…
3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…
The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…
3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision…
Recent advancements in 3D foundation models have enabled the generation of high-fidelity assets, yet precise 3D manipulation remains a significant challenge. Existing 3D editing frameworks often face a difficult trade-off between visual…
Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…
Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…
3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically…
A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…
Recent advancements in multimodal large language models (LLMs) have demonstrated significant potential across various domains, particularly in concept reasoning. However, their applications in understanding 3D environments remain limited,…