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

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Masked image modeling (MIM) learns representations with remarkably good fine-tuning performances, overshadowing previous prevalent pre-training approaches such as image classification, instance contrastive learning, and image-text…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

While diffusion models have demonstrated remarkable progress in 2D image generation and editing, extending these capabilities to 3D editing remains challenging, particularly in maintaining multi-view consistency. Classical approaches…

Real-world scenarios pose several challenges to deep learning based computer vision techniques despite their tremendous success in research. Deeper models provide better performance, but are challenging to deploy and knowledge distillation…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

Recently, 3D Gaussian Splatting (3DGS) has demonstrated remarkable success in 3D reconstruction and novel view synthesis. However, reconstructing 3D scenes from sparse viewpoints remains highly challenging due to insufficient visual…

We generalize lifting to semantic lifting by incorporating per-view masks that indicate relevant pixels for lifting tasks. These masks are determined by querying corresponding multiscale pixel-aligned feature maps, which are derived from…

Vision foundation models (VFMs) trained on large-scale image datasets provide high-quality features that have significantly advanced 2D visual recognition. However, their potential in 3D scene segmentation remains largely untapped, despite…

Contrastive Language-Image Pretraining (CLIP) model has exhibited remarkable efficacy in establishing cross-modal connections between texts and images, yielding impressive performance across a broad spectrum of downstream applications…

We introduce Ilov3Splat, a novel framework for instance-level open-vocabulary 3D scene understanding built on 3D Gaussian Splatting (3D-GS). Most prior work depends on 2D rendering-based matching or point-level semantic association, which…

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

Foundation models like CLIP (Contrastive Language-Image Pretraining) have revolutionized vision-language tasks by enabling zero-shot and few-shot learning through cross-modal alignment. However, their computational complexity and large…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Existing 3D foundation models typically align point clouds to frozen vision-language spaces like CLIP, which achieve strong cross-modal retrieval by compressing 3D shape into a global vector. However, this global-only alignment cannot…

In this paper, we explore a critical yet under-investigated issue: how to learn robust and well-generalized 3D representation from pre-trained vision language models such as CLIP. Previous works have demonstrated that cross-modal…

Visual feature clustering is one of the cost-effective approaches to segment objects in videos. However, the assumptions made for developing the existing algorithms prevent them from being used in situations like segmenting an unknown…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…