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

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

This paper presents Omni-View, which extends the unified multimodal understanding and generation to 3D scenes based on multiview images, exploring the principle that "generation facilitates understanding". Consisting of understanding model,…

In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framework integrates a CUDA-accelerated rasterization pipeline…

Depth-aware video panoptic segmentation is a promising approach to camera based scene understanding. However, the current state-of-the-art methods require costly video annotations and use a complex training pipeline compared to their…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Building a unified model with a single set of parameters to efficiently handle diverse types of medical lesion segmentation has become a crucial objective for AI-assisted diagnosis. Existing unified segmentation approaches typically rely on…

A bathtub in a library, a sink in an office, a bed in a laundry room -- the counter-intuition suggests that scene provides important prior knowledge for 3D object detection, which instructs to eliminate the ambiguous detection of similar…

Accurate and robust multimodal multi-task perception is crucial for modern autonomous driving systems. However, current multimodal perception research follows independent paradigms designed for specific perception tasks, leading to a lack…

All instance perception tasks aim at finding certain objects specified by some queries such as category names, language expressions, and target annotations, but this complete field has been split into multiple independent subtasks. In this…

Video Scene Graph Generation (VidSGG) aims to represent dynamic visual content by detecting objects and modeling their temporal interactions as structured graphs. Prior studies typically target either coarse-grained box-level or…

The growing adoption of robotics and augmented reality in real-world applications has driven considerable research interest in 3D object detection based on point clouds. While previous methods address unified training across multiple…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Online, real-time, and fine-grained 3D segmentation constitutes a fundamental capability for embodied intelligent agents to perceive and comprehend their operational environments. Recent advancements employ predefined object queries to…

We present SceneNAT, a single-stage masked non-autoregressive Transformer that synthesizes complete 3D indoor scenes from natural language instructions through only a few parallel decoding passes, offering improved performance and…

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…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…

We propose a unified cross-domain transfer learning framework that leverages knowledge from multiple heterogeneous medical imaging datasets to improve performance across segmentation, classification, and object detection tasks. Our approach…