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

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

Advancements in 3D instance segmentation have traditionally been tethered to the availability of annotated datasets, limiting their application to a narrow spectrum of object categories. Recent efforts have sought to harness vision-language…

Though deep learning methods have shown great success in 3D point cloud part segmentation, they generally rely on a large volume of labeled training data, which makes the model suffer from unsatisfied generalization abilities to unseen…

Despite significant progress in 3D point cloud segmentation, existing methods primarily address specific tasks and depend on explicit instructions to identify targets, lacking the capability to infer and understand implicit user intentions…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

Contrastive Language-Image Pre-training (CLIP) achieves promising results in 2D zero-shot and few-shot learning. Despite the impressive performance in 2D, applying CLIP to help the learning in 3D scene understanding has yet to be explored.…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Applying NeRF to downstream perception tasks for scene understanding and representation is becoming increasingly popular. Most existing methods treat semantic prediction as an additional rendering task, \textit{i.e.}, the "label rendering"…

3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

While 3D Multi-modal Large Language Models (MLLMs) demonstrate remarkable scene understanding capabilities, their practical deployment faces critical challenges due to computational inefficiency. The key bottleneck stems from processing…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…