相关论文: FM-OV3D: Foundation Model-based Cross-modal Knowle…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Open-vocabulary 3D instance segmentation transcends traditional closed-vocabulary methods by enabling the identification of both previously seen and unseen objects in real-world scenarios. It leverages a dual-modality approach, utilizing…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

Open-vocabulary scene understanding aims to localize and recognize unseen categories beyond the annotated label space. The recent breakthrough of 2D open-vocabulary perception is largely driven by Internet-scale paired image-text data with…

Inspired by the success of vision-language methods (VLMs) in zero-shot classification, recent works attempt to extend this line of work into object detection by leveraging the localization ability of pre-trained VLMs and generating pseudo…

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and…

The 3D point cloud representation plays a crucial role in preserving the geometric fidelity of the physical world, enabling more accurate complex 3D environments. While humans naturally comprehend the intricate relationships between objects…

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…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

Perceiving the world as 3D occupancy supports embodied agents to avoid collision with any types of obstacle. While open-vocabulary image understanding has prospered recently, how to bind the predicted 3D occupancy grids with open-world…

Open-vocabulary object detection (OVOD) enables models to recognize objects beyond predefined categories, but existing approaches remain limited in practical deployment. On the one hand, multimodal designs often incur substantial…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Traditional object detection methods operate under the closed-set assumption, where models can only detect a fixed number of objects predefined in the training set. Recent works on open vocabulary object detection (OVD) enable the detection…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

Due to its extensive applications, aerial image object detection has long been a hot topic in computer vision. In recent years, advancements in Unmanned Aerial Vehicles (UAV) technology have further propelled this field to new heights,…

Open-vocabulary object detection (OVD) aims to recognize and localize object categories beyond the training set. Recent approaches leverage vision-language models to generate pseudo-labels using image-text alignment, allowing detectors to…

In this paper, we attempt to specialize the VLM model for OWOD tasks by distilling its open-world knowledge into a language-agnostic detector. Surprisingly, we observe that the combination of a simple \textbf{knowledge distillation}…

Rapid advancements in 3D vision-language (3D-VL) tasks have opened up new avenues for human interaction with embodied agents or robots using natural language. Despite this progress, we find a notable limitation: existing 3D-VL models…

The challenge of Out-Of-Distribution (OOD) robustness remains a critical hurdle towards deploying deep vision models. Vision-Language Models (VLMs) have recently achieved groundbreaking results. VLM-based open-vocabulary object detection…