相关论文: OpenGraph: Open-Vocabulary Hierarchical 3D Graph R…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…

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…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

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…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames…

Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Indoor scene synthesis aims to automatically produce plausible, realistic and diverse 3D indoor scenes, especially given arbitrary user requirements. Recently, the promising generalization ability of pre-trained large language models (LLM)…

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…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and…

In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where RGB-D images or camera poses are not readily available. To…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…