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Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

Scene graph generation aims to produce structured representations for images, which requires to understand the relations between objects. Due to the continuous nature of deep neural networks, the prediction of scene graphs is divided into…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

MonoScene proposes a 3D Semantic Scene Completion (SSC) framework, where the dense geometry and semantics of a scene are inferred from a single monocular RGB image. Different from the SSC literature, relying on 2.5 or 3D input, we solve the…

Scalable generation of outdoor driving scenes requires 3D representations that remain consistent across multiple viewpoints and scale to large areas. Existing solutions either rely on image or video generative models distilled to 3D space,…

In this paper, we introduce the HexPlane representation for 3D semantic scene understanding. Specifically, we first design the View Projection Module (VPM) to project the 3D point cloud into six planes to maximally retain the original…

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…

Training convolutional networks for semantic segmentation requires per-pixel ground truth labels, which are very time consuming and hence costly to obtain. Therefore, in this work, we research and develop a hierarchical deep network…

Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…

Generating high-quality 3D assets from textual descriptions remains a pivotal challenge in computer graphics and vision research. Due to the scarcity of 3D data, state-of-the-art approaches utilize pre-trained 2D diffusion priors, optimized…

We propose a novel deep layer cascade (LC) method to improve the accuracy and speed of semantic segmentation. Unlike the conventional model cascade (MC) that is composed of multiple independent models, LC treats a single deep model as a…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

From video, we reconstruct a neural volume that captures time-varying color, density, scene flow, semantics, and attention information. The semantics and attention let us identify salient foreground objects separately from the background…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Visual spatial description (VSD) aims to generate texts that describe the spatial relations of the given objects within images. Existing VSD work merely models the 2D geometrical vision features, thus inevitably falling prey to the problem…

The hubness problem widely exists in high-dimensional embedding space and is a fundamental source of error for cross-modal matching tasks. In this work, we study the emergence of hubs in Visual Semantic Embeddings (VSE) with application to…

Video Semantic Role Labeling (VidSRL) aims to detect the salient events from given videos, by recognizing the predict-argument event structures and the interrelationships between events. While recent endeavors have put forth methods for…

Semantic correspondence, the task of determining relationships between different parts of images, underpins various applications including 3D reconstruction, image-to-image translation, object tracking, and visual place recognition. Recent…

Open-vocabulary semantic segmentation aims to assign labels to every pixel in an image based on text labels. Existing approaches typically utilize vision-language models (VLMs), such as CLIP, for dense prediction. However, VLMs, pre-trained…