相关论文: Mapping the Unseen: Unified Promptable Panoptic Ma…

Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…

Map environments provide a fundamental medium for representing spatial structure. Understanding how foundation model (FM) agents understand and act in such environments is therefore critical for enabling reliable map-based reasoning and…

We introduce ProPanDL, a family of networks capable of uncertainty-aware panoptic segmentation. Unlike existing segmentation methods, ProPanDL is capable of estimating full probability distributions for both the semantic and spatial aspects…

The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most…

We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

In traditional Distributional Semantic Models (DSMs) the multiple senses of a polysemous word are conflated into a single vector space representation. In this work, we propose a DSM that learns multiple distributional representations of a…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

Large unimodal foundation models for vision and language encode rich semantic structures, yet aligning them typically requires computationally intensive multimodal fine-tuning. Such approaches depend on large-scale parameter updates, are…

This work aims to improve texture inpainting after clutter removal in scanned indoor meshes. This is achieved with a new UV mapping pre-processing step which leverages semantic information of indoor scenes to more accurately match the UV…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

Fine-grained high-resolution remote sensing mapping typically relies on localized visual features, which restricts cross-domain generalizability and often leads to fragmented predictions of large-scale land covers. While global geospatial…

Historical maps offer valuable insights into changes on Earth's surface but pose challenges for modern segmentation models due to inconsistent visual styles and symbols. While deep learning models such as UNet and pre-trained foundation…

Panoramic images, capturing a 360{\deg} field of view (FoV), encompass omnidirectional spatial information crucial for scene understanding. However, it is not only costly to obtain training-sufficient dense-annotated panoramas but also…

This paper introduces a novel probabilistic mapping algorithm, LatentBKI, which enables open-vocabulary mapping with quantifiable uncertainty. Traditionally, semantic mapping algorithms focus on a fixed set of semantic categories which…

Building robust and generic object detection frameworks requires scaling to larger label spaces and bigger training datasets. However, it is prohibitively costly to acquire annotations for thousands of categories at a large scale. We…

3D models are an essential part of many robotic applications. In applications where the environment is unknown a-priori, or where only a part of the environment is known, it is important that the 3D model can handle the unknown space…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

In this work, we introduce Panoptic-DeepLab, a simple, strong, and fast system for panoptic segmentation, aiming to establish a solid baseline for bottom-up methods that can achieve comparable performance of two-stage methods while yielding…

We present an improved model for MRF-based depth upsampling, guided by image- as well as 3D surface normal features. By exploiting the underlying camera model we define a novel regularization term that implicitly evaluates the planarity of…