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

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…

Contrastive learning has recently demonstrated great potential for unsupervised pre-training in 3D scene understanding tasks. However, most existing work randomly selects point features as anchors while building contrast, leading to a clear…

We propose a lightweight and scalable Regional Point-Language Contrastive learning framework, namely \textbf{RegionPLC}, for open-world 3D scene understanding, aiming to identify and recognize open-set objects and categories. Specifically,…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…

Image pre-training, the current de-facto paradigm for a wide range of visual tasks, is generally less favored in the field of video recognition. By contrast, a common strategy is to directly train with spatiotemporal convolutional neural…

Sign language pre-training has gained increasing attention for its ability to enhance performance across various sign language understanding (SLU) tasks. However, existing methods often suffer from a gap between pre-training and…

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…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Large image diffusion models enable novel view synthesis with high quality and excellent zero-shot capability. However, such models based on image-to-image translation have no guarantee of view consistency, limiting the performance for…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

Open-vocabulary scene understanding using 3D Gaussian (3DGS) representations has garnered considerable attention. However, existing methods mostly lift knowledge from large 2D vision models into 3DGS on a scene-by-scene basis, restricting…

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…

Comprehensive semantic segmentation is one of the key components for robust scene understanding and a requirement to enable autonomous driving. Driven by large scale datasets, convolutional neural networks show impressive results on this…

Semantic-aware 3D reconstruction from sparse, unposed images remains challenging for feed-forward 3D Gaussian Splatting (3DGS). Existing methods often predict an over-complete set of Gaussian primitives under sparse-view supervision,…

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are…

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…