相关论文: DreamUp3D: Object-Centric Generative Models for Si…

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

Learning object-centric representations from unsupervised videos is challenging. Unlike most previous approaches that focus on decomposing 2D images, we present a 3D generative model named DynaVol-S for dynamic scenes that enables…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

As part of human core knowledge, the representation of objects is the building block of mental representation that supports high-level concepts and symbolic reasoning. While humans develop the ability of perceiving objects situated in 3D…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

We propose a decoupled 3D scene generation framework called SceneMaker in this work. Due to the lack of sufficient open-set de-occlusion and pose estimation priors, existing methods struggle to simultaneously produce high-quality geometry…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

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…

We introduce 3inGAN, an unconditional 3D generative model trained from 2D images of a single self-similar 3D scene. Such a model can be used to produce 3D "remixes" of a given scene, by mapping spatial latent codes into a 3D volumetric…

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…

Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Despite recent impressive results on single-object and single-domain image generation, the generation of complex scenes with multiple objects remains challenging. In this paper, we start with the idea that a model must be able to understand…