相关论文: ESGNN: Towards Equivariant Scene Graph Neural Netw…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

Over the past few years, a significant progress has been made in deep convolutional neural networks (CNNs)-based image recognition. This is mainly due to the strong ability of such networks in mining discriminative object pose and parts…

The best performing learning algorithms devised for event cameras work by first converting events into dense representations that are then processed using standard CNNs. However, these steps discard both the sparsity and high temporal…

We introduce Similarity Group Proposal Network (SGPN), a simple and intuitive deep learning framework for 3D object instance segmentation on point clouds. SGPN uses a single network to predict point grouping proposals and a corresponding…

The ability for computational agents to reason about the high-level content of real world scene images is important for many applications. Existing attempts at addressing the problem of complex scene understanding lack representational…

Scene text image super-resolution has significantly improved the accuracy of scene text recognition. However, many existing methods emphasize performance over efficiency and ignore the practical need for lightweight solutions in deployment…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

The recent advancements of three-dimensional (3D) data acquisition devices have spurred a new breed of applications that rely on point cloud data processing. However, processing a large volume of point cloud data brings a significant…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Guided synthesis of high-quality 3D scenes is a challenging task. Diffusion models have shown promise in generating diverse data, including 3D scenes. However, current methods rely directly on text embeddings for controlling the generation,…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…