相关论文: 3D Feature Distillation with Object-Centric Priors

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Masked image modeling (MIM) methods typically operate in either raw pixel space (reconstructing masked patches) or latent feature space (aligning with a pre-trained teacher). We present MEDiC (Multi-objective Exploration of Distillation…

Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

The 3D visual grounding task aims to ground a natural language description to the targeted object in a 3D scene, which is usually represented in 3D point clouds. Previous works studied visual grounding under specific views. The…

This paper presents a grounded language-image pre-training (GLIP) model for learning object-level, language-aware, and semantic-rich visual representations. GLIP unifies object detection and phrase grounding for pre-training. The…

Existing 3D open-vocabulary scene understanding methods mostly emphasize distilling language features from 2D foundation models into 3D feature fields, but largely overlook the synergy among scene appearance, semantics, and geometry. As a…

Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…

Contrastive Language-Image Pre-training (CLIP) has become a promising language-supervised visual pre-training framework. This paper aims to distill small CLIP models supervised by a large teacher CLIP model. We propose several distillation…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Detecting 3D objects from multi-view images is a fundamental problem in 3D computer vision. Recently, significant breakthrough has been made in multi-view 3D detection tasks. However, the unprecedented detection performance of these vision…

Exploiting 3D Gaussian Splatting (3DGS) with Contrastive Language-Image Pre-Training (CLIP) models for open-vocabulary 3D semantic understanding of indoor scenes has emerged as an attractive research focus. Existing methods typically attach…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Recently, text-to-3D generation has attracted significant attention, resulting in notable performance enhancements. Previous methods utilize end-to-end 3D generation models to initialize 3D Gaussians, multi-view diffusion models to enforce…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

Vision-language models, such as CLIP, have shown promising Out-of-Distribution (OoD) generalization under various types of distribution shifts. Recent studies attempted to investigate the leading cause of this capability. In this work, we…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Vision-language models like CLIP can offer a promising foundation for 3D scene understanding when extended with 3D tokenizers. However, standard approaches, such as k-nearest neighbor or radius-based tokenization, struggle with cross-domain…