相关论文: Lang3DSG: Language-based contrastive pre-training …

Scene graph generation is a sophisticated task because there is no specific recognition pattern (e.g., "looking at" and "near" have no conspicuous difference concerning vision, whereas "near" could occur between entities with different…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Spatial intelligence is foundational to AI systems that interact with the physical world, particularly in 3D scene generation and spatial comprehension. Current methodologies for 3D scene generation often rely heavily on predefined…

Recent advances in text-to-3D creation integrate the potent prior of Diffusion Models from text-to-image generation into 3D domain. Nevertheless, generating 3D scenes with multiple objects remains challenging. Therefore, we present…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

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,…

In this paper, a novel contrastive language-image pre-training (CLIP) model based semantic communication framework is designed. Compared to standard neural network (e.g.,convolutional neural network) based semantic encoders and decoders…

This paper explores self-supervised learning of amodal 3D feature representations from RGB and RGB-D posed images and videos, agnostic to object and scene semantic content, and evaluates the resulting scene representations in the downstream…

In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

Animal pose estimation is challenging for existing image-based methods because of limited training data and large intra- and inter-species variances. Motivated by the progress of visual-language research, we propose that pre-trained…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

3D scene graph prediction aims to abstract complex 3D environments into structured graphs consisting of objects and their pairwise relationships. Existing approaches typically adopt object-centric graph neural networks, where relation edge…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

Spatial understanding remains a key challenge in vision-language models. Yet it is still unclear whether such understanding is truly acquired, and if so, through what mechanisms. We present a controllable 1D image-text testbed to probe how…

Scene understanding and reasoning has been a fundamental problem in 3D computer vision, requiring models to identify objects, their properties, and spatial or comparative relationships among the objects. Existing approaches enable this by…

Contrastive Language-Image Pre-training (CLIP) has been a celebrated method for training vision encoders to generate image/text representations facilitating various applications. Recently, CLIP has been widely adopted as the vision backbone…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

3D scene graph generation (SGG) has been of high interest in computer vision. Although the accuracy of 3D SGG on coarse classification and single relation label has been gradually improved, the performance of existing works is still far…