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

Enabling Large Language Models (LLMs) to interact with 3D environments is challenging. Existing approaches extract point clouds either from ground truth (GT) geometry or 3D scenes reconstructed by auxiliary models. Text-image aligned 2D…

Image fusion aims to integrate complementary information from multiple source images to produce a more informative and visually consistent representation, benefiting both human perception and downstream vision tasks. Despite recent…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

Observing the close relationship among panoptic, semantic and instance segmentation tasks, we propose to train a universal multi-dataset multi-task segmentation model: DaTaSeg.We use a shared representation (mask proposals with class…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

We present GvSeg, a general video segmentation framework for addressing four different video segmentation tasks (i.e., instance, semantic, panoptic, and exemplar-guided) while maintaining an identical architectural design. Currently, there…

Performing 3D dense captioning and visual grounding requires a common and shared understanding of the underlying multimodal relationships. However, despite some previous attempts on connecting these two related tasks with highly…

Current 3D object detection models follow a single dataset-specific training and testing paradigm, which often faces a serious detection accuracy drop when they are directly deployed in another dataset. In this paper, we study the task of…

While language tasks are naturally expressed in a single, unified, modeling framework, i.e., generating sequences of tokens, this has not been the case in computer vision. As a result, there is a proliferation of distinct architectures and…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

Sketch semantic segmentation is a well-explored and pivotal problem in computer vision involving the assignment of pre-defined part labels to individual strokes. This paper presents ContextSeg - a simple yet highly effective approach to…

We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation…

Semantic segmentation is a challenging problem due to difficulties in modeling context in complex scenes and class confusions along boundaries. Most literature either focuses on context modeling or boundary refinement, which is less…

Interactive segmentation allows efficient label generation by leveraging user-provided clicks to progressively refine predictions, which is critical when fully supervised labels are costly or generalization to unseen classes is needed.…

3D understanding is a key capability for real-world AI assistance. High-quality data plays an important role in driving the development of the 3D understanding community. Current 3D scene understanding datasets often provide geometric and…

Open-vocabulary 3D scene understanding is crucial for applications requiring natural language-driven spatial interpretation, such as robotics and augmented reality. While 3D Gaussian Splatting (3DGS) offers a powerful representation for…

We present UniScale, a unified, scale-aware multi-view 3D reconstruction framework for robotic applications that flexibly integrates geometric priors through a modular, semantically informed design. In vision-based robotic navigation, the…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

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…