相关论文: Building a Strong Pre-Training Baseline for Univer…

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

Recent diffusion models have demonstrated remarkable performance in both 3D scene generation and perception tasks. Nevertheless, existing methods typically separate these two processes, acting as a data augmenter to generate synthetic data…

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…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

We propose a unified point cloud video self-supervised learning framework for object-centric and scene-centric data. Previous methods commonly conduct representation learning at the clip or frame level and cannot well capture fine-grained…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

Hierarchical semantic structures naturally exist in an image dataset, in which several semantically relevant image clusters can be further integrated into a larger cluster with coarser-grained semantics. Capturing such structures with image…

3D Gaussian Splatting (3DGS) has emerged as a real-time, differentiable representation for neural scene understanding. However, existing 3DGS-based methods struggle to represent hierarchical 3D semantic structures and capture whole-part…

Self-supervised representation learning for visual pre-training has achieved remarkable success with sample (instance or pixel) discrimination and semantics discovery of instance, whereas there still exists a non-negligible gap between…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a coupled encoder to deliver both semantic and geometric…

Contrastive Language-Image Pre-training (CLIP) has shown impressive performance in aligning visual and textual representations. Recent studies have extended this paradigm to 3D vision to improve scene understanding for autonomous driving. A…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…

3D multi-object tracking is a critical and challenging task in the field of autonomous driving. A common paradigm relies on modeling individual object motion, e.g., Kalman filters, to predict trajectories. While effective in simple…

Capturing and labeling real-world 3D data is laborious and time-consuming, which makes it costly to train strong 3D models. To address this issue, recent works present a simple method by generating randomized 3D scenes without simulation…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Video semantic segmentation(VSS) has been widely employed in lots of fields, such as simultaneous localization and mapping, autonomous driving and surveillance. Its core challenge is how to leverage temporal information to achieve better…