相关论文: OV9D: Open-Vocabulary Category-Level 9D Object Pos…

Recent approaches have shown that training deep neural networks directly on large-scale image-text pair collections enables zero-shot transfer on various recognition tasks. One central issue is how this can be generalized to object…

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…

Large Vision-Language Models (LVLMs) have achieved significant progress in tasks like visual question answering and document understanding. However, their potential to comprehend embodied environments and navigate within them remains…

Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…

Empowering autonomous agents with 3D understanding for daily objects is a grand challenge in robotics applications. When exploring in an unknown environment, existing methods for object pose estimation are still not satisfactory due to the…

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…

Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…

Detecting objects based on language information is a popular task that includes Open-Vocabulary object Detection (OVD) and Referring Expression Comprehension (REC). In this paper, we advance them to a more practical setting called Described…

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…

Audio-visual semantic segmentation (AVSS) aims to segment and classify sounding objects in videos with acoustic cues. However, most approaches operate on the close-set assumption and only identify pre-defined categories from training data,…

Text-to-image diffusion techniques have shown exceptional capabilities in producing high-quality, dense visual predictions from open-vocabulary text. This indicates a strong correlation between visual and textual domains in open concepts…

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…

Semantic segmentation in videos has been a focal point of recent research. However, existing models encounter challenges when faced with unfamiliar categories. To address this, we introduce the Open Vocabulary Video Semantic Segmentation…

We present OpenSeeD, a simple Open-vocabulary Segmentation and Detection framework that jointly learns from different segmentation and detection datasets. To bridge the gap of vocabulary and annotation granularity, we first introduce a…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

This paper presents DetCLIPv2, an efficient and scalable training framework that incorporates large-scale image-text pairs to achieve open-vocabulary object detection (OVD). Unlike previous OVD frameworks that typically rely on a…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

3D object detection is fundamental for spatial understanding. Real-world environments demand models capable of recognizing diverse, previously unseen objects, which remains a major limitation of closed-set methods. Existing open-vocabulary…