相关论文: Belief Scene Graphs: Expanding Partial Scenes with…

This work establishes the concept of commonsense scene composition, with a focus on extending Belief Scene Graphs by estimating the spatial distribution of unseen objects. Specifically, the commonsense scene composition capability refers to…

Scene graph generation aims to interpret an input image by explicitly modelling the potential objects and their relationships, which is predominantly solved by the message passing neural network models in previous methods. Currently, such…

This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Recent advances in visual generative models have highlighted the promise of learning generative world models. However, most existing approaches frame world modeling as novel-view synthesis or future-frame prediction, emphasizing visual…

Applications based on image retrieval require editing and associating in intermediate spaces that are representative of the high-level concepts like objects and their relationships rather than dense, pixel-level representations like RGB…

Scene understanding is a critical problem in computer vision. In this paper, we propose a 3D point-based scene graph generation ($\mathbf{SGG_{point}}$) framework to effectively bridge perception and reasoning to achieve scene understanding…

Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

This paper investigates a missing feature imputation problem for graph learning tasks. Several methods have previously addressed learning tasks on graphs with missing features. However, in cases of high rates of missing features, they were…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

Scene graph generation (SGG) endeavors to predict visual relationships between pairs of objects within an image. Prevailing SGG methods traditionally assume a one-off learning process for SGG. This conventional paradigm may necessitate…

While deep learning has significantly advanced robotic object recognition, purely data-driven approaches often lack semantic consistency and fail to leverage valuable, pre-existing knowledge about the environment. This report presents the…

As a structured prediction task, scene graph generation aims to build a visually-grounded scene graph to explicitly model objects and their relationships in an input image. Currently, the mean field variational Bayesian framework is the de…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…