相关论文: QueSTMaps: Queryable Semantic Topological Maps for…

Semantic segmentation is the task of assigning a class-label to each pixel in an image. We propose a region-based semantic segmentation framework which handles both full and weak supervision, and addresses three common problems: (1) Objects…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

Embeddings from Visual-Language Models are increasingly utilized to represent semantics in robotic maps, offering an open-vocabulary scene understanding that surpasses traditional, limited labels. Embeddings enable on-demand querying by…

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…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…

Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is essential for robust indoor navigation and mapping. These…

There has been a growing adoption of computer vision tools and technologies in architectural design workflows over the past decade. Notable use cases include point cloud generation, visual content analysis, and spatial awareness for robotic…

Cinemagraphs are a compelling way to convey dynamic aspects of a scene. In these media, dynamic and still elements are juxtaposed to create an artistic and narrative experience. Creating a high-quality, aesthetically pleasing cinemagraph…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Over the years, scene understanding has attracted a growing interest in computer vision, providing the semantic and physical scene information necessary for robots to complete some particular tasks autonomously. In 3D scenes, rich spatial…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

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…

Prompt-driven scene synthesis allows users to generate complete 3D environments from textual descriptions. Current text-to-scene methods often struggle with complex geometries and object transformations, and tend to show weak adherence to…

Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…

We study the underexplored but fundamental vision problem of machine understanding of abstract freehand scene sketches. We introduce a sketch encoder that results in semantically-aware feature space, which we evaluate by testing its…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…