相关论文: A Unified Framework for 3D Scene Understanding

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However,…

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…

Semantic scene understanding is essential for mobile agents acting in various environments. Although semantic segmentation already provides a lot of information, details about individual objects as well as the general scene are missing but…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

3D semantic scene completion and 2D semantic segmentation are two tightly correlated tasks that are both essential for indoor scene understanding, because they predict the same semantic classes, using positively correlated high-level…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

In this work, we address the challenging video scene parsing problem by developing effective representation learning methods given limited parsing annotations. In particular, we contribute two novel methods that constitute a unified parsing…

Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…

In the context of autonomous driving, the significance of effective feature learning is widely acknowledged. While conventional 3D self-supervised pre-training methods have shown widespread success, most methods follow the ideas originally…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Class-agnostic 3D instance segmentation tackles the challenging task of segmenting all object instances, including previously unseen ones, without semantic class reliance. Current methods struggle with generalization due to the scarce…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

Scene recognition based on deep-learning has made significant progress, but there are still limitations in its performance due to challenges posed by inter-class similarities and intra-class dissimilarities. Furthermore, prior research has…

Analysis of the 3D Texture is indispensable for various tasks, such as retrieval, segmentation, classification, and inspection of sculptures, knitted fabrics, and biological tissues. A 3D texture is a locally repeated surface variation…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

We propose an end-to-end learning framework for segmenting generic objects in videos. Our method learns to combine appearance and motion information to produce pixel level segmentation masks for all prominent objects in videos. We formulate…