相关论文: OpenScan: A Benchmark for Generalized Open-Vocabul…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e.,…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

In this work, we introduce OpenIns3D, a new 3D-input-only framework for 3D open-vocabulary scene understanding. The OpenIns3D framework employs a "Mask-Snap-Lookup" scheme. The "Mask" module learns class-agnostic mask proposals in 3D point…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…

Open-vocabulary detection (OVD) is a new object detection paradigm, aiming to localize and recognize unseen objects defined by an unbounded vocabulary. This is challenging since traditional detectors can only learn from pre-defined…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Recognizing arbitrary objects in the wild has been a challenging problem due to the limitations of existing classification models and datasets. In this paper, we propose a new task that aims at parsing scenes with a large and open…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

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…

Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…

Object State Changes (OSCs) are pivotal for video understanding. While humans can effortlessly generalize OSC understanding from familiar to unknown objects, current approaches are confined to a closed vocabulary. Addressing this gap, we…

Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…