相关论文: OpenSUN3D: 1st Workshop Challenge on Open-Vocabula…
Scene text recognition has attracted increasing interest in recent years due to its wide range of applications in multilingual translation, autonomous driving, etc. In this report, we describe our solution to the Out of Vocabulary Scene…
Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…
Open-vocabulary 3D object detection (OV-3Det) aims to generalize beyond the limited number of base categories labeled during the training phase. The biggest bottleneck is the scarcity of annotated 3D data, whereas 2D image datasets are…
Pretraining 3D encoders by aligning with Contrastive Language Image Pretraining (CLIP) has emerged as a promising direction to learn generalizable representations for 3D scene understanding. In this paper, we propose UniScene3D, a…
The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…
Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting:…
Generalizing open-vocabulary 3D instance segmentation (OV-3DIS) to diverse, unstructured, and mesh-free environments is crucial for robotics and AR/VR, yet remains a significant challenge. We attribute this to two key limitations of…
3D vision-language grounding, which focuses on aligning language with the 3D physical environment, stands as a cornerstone in the development of embodied agents. In comparison to recent advancements in the 2D domain, grounding language in…
3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…
Understanding the 3D semantics of a scene is a fundamental problem for various scenarios such as embodied agents. While NeRFs and 3DGS excel at novel-view synthesis, previous methods for understanding their semantics have been limited to…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…
3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…
In this paper, we propose a training scheme called OVSeg3R to learn open-vocabulary 3D instance segmentation from well-studied 2D perception models with the aid of 3D reconstruction. OVSeg3R directly adopts reconstructed scenes from 2D…
Recent open-vocabulary 3D scene understanding approaches mainly focus on training 3D networks through contrastive learning with point-text pairs or by distilling 2D features into 3D models via point-pixel alignment. While these methods show…
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…
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…
Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…
Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…