相关论文: MiKASA: Multi-Key-Anchor & Scene-Aware Transformer…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

Training models to apply common-sense linguistic knowledge and visual concepts from 2D images to 3D scene understanding is a promising direction that researchers have only recently started to explore. However, it still remains understudied…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

Multiple object tracking has been a challenging field, mainly due to noisy detection sets and identity switch caused by occlusion and similar appearance among nearby targets. Previous works rely on appearance models built on individual or…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Promising performance has been achieved for visual perception on the point cloud. However, the current methods typically rely on labour-extensive annotations on the scene scans. In this paper, we explore how synthetic models alleviate the…

Visual scene understanding is a fundamental task in computer vision that aims to extract meaningful information from visual data. It traditionally involves disjoint and specialized algorithms for different tasks that are tailored for…

Existing approaches for controlling text-to-image diffusion models, while powerful, do not allow for explicit 3D object-centric control, such as precise control of object orientation. In this work, we address the problem of multi-object…

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on…

3D visual grounding (3DVG) involves localizing entities in a 3D scene referred to by natural language text. Such models are useful for embodied AI and scene retrieval applications, which involve searching for objects or patterns using…

3D visual grounding aims to find the object within point clouds mentioned by free-form natural language descriptions with rich semantic cues. However, existing methods either extract the sentence-level features coupling all words or focus…

3D visual grounding aims to identify the target object within a 3D point cloud scene referred to by a natural language description. Previous works usually require significant data relating to point color and their descriptions to exploit…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Situation awareness is essential for understanding and reasoning about 3D scenes in embodied AI agents. However, existing datasets and benchmarks for situated understanding are limited in data modality, diversity, scale, and task scope. To…

We address the challenges in estimating 3D human poses from multiple views under occlusion and with limited overlapping views. We approach multi-view, single-person 3D human pose reconstruction as a regression problem and propose a novel…

Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…