相关论文: Zero-Shot Dual-Path Integration Framework for Open…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

Open-vocabulary (OV) 3D object detection is an emerging field, yet its exploration through image-based methods remains limited compared to 3D point cloud-based methods. We introduce OpenM3D, a novel open-vocabulary multi-view indoor 3D…

Vision-language models (VLMs) have demonstrated impressive zero-shot transfer capabilities in image-level visual perception tasks. However, they fall short in 3D instance-level segmentation tasks that require accurate localization and…

We tackle open-vocabulary 3D scene understanding by introducing a novel data generation pipeline and training framework. Our method addresses three critical requirements for effective training: precise 3D region segmentation, comprehensive…

This work presents OVIR-3D, a straightforward yet effective method for open-vocabulary 3D object instance retrieval without using any 3D data for training. Given a language query, the proposed method is able to return a ranked set of 3D…

Video Instance Segmentation (VIS) aims at segmenting and categorizing objects in videos from a closed set of training categories, lacking the generalization ability to handle novel categories in real-world videos. To address this…

The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…

Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…

Traditional closed-set 3D detection frameworks fail to meet the demands of open-world applications like autonomous driving. Existing open-vocabulary 3D detection methods typically adopt a two-stage pipeline consisting of pseudo-label…

The goal of this paper is open-vocabulary object detection (OVOD) $\unicode{x2013}$ building a model that can detect objects beyond the set of categories seen at training, thus enabling the user to specify categories of interest at…

We present a new paradigm for real-time object-oriented SLAM with a monocular camera. Contrary to previous approaches, that rely on object-level models, we construct category-level models from CAD collections which are now widely available.…

Zero-shot recognition aims to accurately recognize objects of unseen classes by using a shared visual-semantic mapping between the image feature space and the semantic embedding space. This mapping is learned on training data of seen…

We describe an approach to predict open-vocabulary 3D semantic voxel occupancy map from input 2D images with the objective of enabling 3D grounding, segmentation and retrieval of free-form language queries. This is a challenging problem…

Despite the remarkable accuracy of deep neural networks in object detection, they are costly to train and scale due to supervision requirements. Particularly, learning more object categories typically requires proportionally more bounding…

Open-vocabulary 3D object detection for autonomous driving aims to detect novel objects beyond the predefined training label sets in point cloud scenes. Existing approaches achieve this by connecting traditional 3D object detectors with…

Understanding dynamic 3D human representation has become increasingly critical in virtual and extended reality applications. However, existing human part segmentation methods are constrained by reliance on closed-set datasets and prolonged…

The open vocabulary capability of 3D models is increasingly valued, as traditional methods with models trained with fixed categories fail to recognize unseen objects in complex dynamic 3D scenes. In this paper, we propose a simple yet…

In the current state of 3D object detection research, the severe scarcity of annotated 3D data, substantial disparities across different data modalities, and the absence of a unified architecture, have impeded the progress towards the goal…

Multi-agent distributed collaborative mapping provides comprehensive and efficient representations for robots. However, existing approaches lack instance-level awareness and semantic understanding of environments, limiting their…

Unsupervised and open-vocabulary 3D object detection has recently gained attention, particularly in autonomous driving, where reducing annotation costs and recognizing unseen objects are critical for both safety and scalability. However,…