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

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

We present a novel 3D instance segmentation framework for Multi-View Stereo (MVS) buildings in urban scenes. Unlike existing works focusing on semantic segmentation of urban scenes, the emphasis of this work lies in detecting and segmenting…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes. Recent implicit neural reconstruction techniques are…

3D scene segmentation based on neural implicit representation has emerged recently with the advantage of training only on 2D supervision. However, existing approaches still requires expensive per-scene optimization that prohibits…

3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) have advanced novel-view synthesis. Recent methods extend multi-view 2D segmentation to 3D, enabling instance/semantic segmentation for better scene understanding. A key…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

In-context segmentation has drawn increasing attention with the advent of vision foundation models. Its goal is to segment objects using given reference images. Most existing approaches adopt metric learning or masked image modeling to…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Precise representations of 3D faces are beneficial to various computer vision and graphics applications. Due to the data discretization and model linearity, however, it remains challenging to capture accurate identity and expression clues…

We propose CLIP-Fields, an implicit scene model that can be used for a variety of tasks, such as segmentation, instance identification, semantic search over space, and view localization. CLIP-Fields learns a mapping from spatial locations…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Most Neural Radiance Fields (NeRFs) exhibit limited generalization capabilities, which restrict their applicability in representing multiple scenes using a single model. To address this problem, existing generalizable NeRF methods simply…

Amodal panoptic segmentation aims to connect the perception of the world to its cognitive understanding. It entails simultaneously predicting the semantic labels of visible scene regions and the entire shape of traffic participant…