相关论文: Generalized Robot 3D Vision-Language Model with Fa…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Recent advances in 3D semantic segmentation with deep neural networks have shown remarkable success, with rapid performance increase on available datasets. However, current 3D semantic segmentation benchmarks contain only a small number of…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

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…

D scene graphs are an emerging 3D scene representation, that models both the objects present in the scene as well as their relationships. However, learning 3D scene graphs is a challenging task because it requires not only object labels but…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

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…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Recent advancements in vision-language pre-training (e.g. CLIP) have shown that vision models can benefit from language supervision. While many models using language modality have achieved great success on 2D vision tasks, the joint…

In the field of visual scene understanding, deep neural networks have made impressive advancements in various core tasks like segmentation, tracking, and detection. However, most approaches operate on the close-set assumption, meaning that…

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…

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…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…