相关论文: 3D Semantic MapNet: Building Maps for Multi-Object…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

Cloth-changing Person Re-Identification (CC-ReID) is a challenging task that aims to retrieve the target person across multiple surveillance cameras when clothing changes might happen. Despite recent progress in CC-ReID, existing approaches…

Human visual attention on three-dimensional objects emerges from the interplay between bottom-up geometric processing and top-down semantic recognition. Existing 3D saliency methods rely on hand-crafted geometric features or learning-based…

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…

We propose an efficient Stereographic Projection Neural Network (SPNet) for learning representations of 3D objects. We first transform a 3D input volume into a 2D planar image using stereographic projection. We then present a shallow 2D…

Grounding natural language in 3D environments is a critical step toward achieving robust 3D vision-language alignment. Current datasets and models for 3D visual grounding predominantly focus on identifying and localizing objects from…

Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…

We introduce a neural relighting algorithm for captured indoors scenes, that allows interactive free-viewpoint navigation. Our method allows illumination to be changed synthetically, while coherently rendering cast shadows and complex…

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…

Semantic segmentation for medical 3D image stacks enables accurate volumetric reconstructions, computer-aided diagnostics and follow up treatment planning. In this work, we present a novel variant of the Unet model called the NUMSnet that…

Inspired by the recent success of methods that employ shape priors to achieve robust 3D reconstructions, we propose a novel recurrent neural network architecture that we call the 3D Recurrent Reconstruction Neural Network (3D-R2N2). The…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

Multi-object tracking (MOT) has profound applications in a variety of fields, including surveillance, sports analytics, self-driving, and cooperative robotics. Despite considerable advancements, existing MOT methodologies tend to falter…

Navigation tasks in photorealistic 3D environments are challenging because they require perception and effective planning under partial observability. Recent work shows that map-like memory is useful for long-horizon navigation tasks.…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

We introduce Replica, a dataset of 18 highly photo-realistic 3D indoor scene reconstructions at room and building scale. Each scene consists of a dense mesh, high-resolution high-dynamic-range (HDR) textures, per-primitive semantic class…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

Indoor scene synthesis involves automatically picking and placing furniture appropriately on a floor plan, so that the scene looks realistic and is functionally plausible. Such scenes can serve as homes for immersive 3D experiences, or be…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…