相关论文: Efficient 3D Instance Mapping and Localization wit…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

This paper presents one of the first learning-based NeRF 3D instance segmentation pipelines, dubbed as Instance Neural Radiance Field, or Instance NeRF. Taking a NeRF pretrained from multi-view RGB images as input, Instance NeRF can learn…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

Understanding 3D scenes is a crucial challenge in computer vision research with applications spanning multiple domains. Recent advancements in distilling 2D vision-language foundation models into neural fields, like NeRF and 3DGS, enable…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

We introduce a 3D instance representation, termed instance kernels, where instances are represented by one-dimensional vectors that encode the semantic, positional, and shape information of 3D instances. We show that instance kernels enable…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still…

Instance segmentation in 3D images is a fundamental task in biomedical image analysis. While deep learning models often work well for 2D instance segmentation, 3D instance segmentation still faces critical challenges, such as insufficient…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

In this work, we demonstrate yet another approach to tackle the amodal segmentation problem. Specifically, we first introduce a new representation, namely a semantics-aware distance map (sem-dist map), to serve as our target for amodal…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Separating 3D point clouds into individual instances is an important task for 3D vision. It is challenging due to the unknown and varying number of instances in a scene. Existing deep learning based works focus on a two-step pipeline: first…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

Many deep learning based automated medical image segmentation systems, in reality, face difficulties in deployment due to the cost of massive data annotation and high latency in model iteration. We propose a dynamic interactive learning…