相关论文: OpenPSG: Open-set Panoptic Scene Graph Generation …

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

3D scene graph generation (SGG) has been of high interest in computer vision. Although the accuracy of 3D SGG on coarse classification and single relation label has been gradually improved, the performance of existing works is still far…

In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…

Convolutional Neural Networks (CNNs) have proved exceptional at learning representations for visual object categorization. However, CNNs do not explicitly encode objects, parts, and their physical properties, which has limited CNNs' success…

Training Scene Graph Generation (SGG) models with natural language captions has become increasingly popular due to the abundant, cost-effective, and open-world generalization supervision signals that natural language offers. However, such…

We present OvSGTR, a novel transformer-based framework for fully open-vocabulary scene graph generation that overcomes the limitations of traditional closed-set models. Conventional methods restrict both object and relationship recognition…

Recently, 3D Gaussian Splatting (3DGS) has shown encouraging performance for open vocabulary scene understanding tasks. However, previous methods cannot distinguish 3D instance-level information, which usually predicts a heatmap between the…

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…

Spatio-temporal scene graphs represent interactions in a video by decomposing scenes into individual objects and their pair-wise temporal relationships. Long-term anticipation of the fine-grained pair-wise relationships between objects is a…

In this work, we introduce a new perspective on comparative image assessment by representing an image pair as a structured composition of its regions. In contrast, existing methods focus on whole image analysis, while implicitly relying on…

Humans effortlessly identify objects by leveraging a rich understanding of the surrounding scene, including spatial relationships, material properties, and the co-occurrence of other objects. In contrast, most computational object…

Large Language Models (LLMs) have shown promising results on various language and vision tasks. Recently, there has been growing interest in applying LLMs to graph-based tasks, particularly on Text-Attributed Graphs (TAGs). However, most…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

2D scene graphs provide a structural and explainable framework for scene understanding. However, current work still struggles with the lack of accurate scene graph data. To overcome this data bottleneck, we present CoPa-SG, a synthetic…

Learning to compose visual relationships from raw images in the form of scene graphs is a highly challenging task due to contextual dependencies, but it is essential in computer vision applications that depend on scene understanding.…

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Scene graph generation (SGG) aims to capture a wide variety of interactions between pairs of objects, which is essential for full scene understanding. Existing SGG methods trained on the entire set of relations fail to acquire complex…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

Panoptic segmentation is a fundamental task in computer vision and a crucial component for perception in autonomous vehicles. Recent mask-transformer-based methods achieve impressive performance on standard benchmarks but face significant…