相关论文: OE3DIS: Open-Ended 3D Point Cloud Instance Segment…

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

Unlike closed-vocabulary 3D instance segmentation that is often trained end-to-end, open-vocabulary 3D instance segmentation (OV-3DIS) often leverages vision-language models (VLMs) to generate 3D instance proposals and classify them. While…

Generalizing open-vocabulary 3D instance segmentation (OV-3DIS) to diverse, unstructured, and mesh-free environments is crucial for robotics and AR/VR, yet remains a significant challenge. We attribute this to two key limitations of…

In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Existing 3D instance segmentation methods frequently encounter issues with over-segmentation, leading to redundant and inaccurate 3D proposals that complicate downstream tasks. This challenge arises from their unsupervised merging approach,…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

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…

Current point-cloud detection methods have difficulty detecting the open-vocabulary objects in the real world, due to their limited generalization capability. Moreover, it is extremely laborious and expensive to collect and fully annotate a…

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…

Conventional 3D instance segmentation methods rely on labor-intensive 3D annotations for supervised training, which limits their scalability and generalization to novel objects. Recent approaches leverage multi-view 2D masks from the…

In this paper, we propose a training scheme called OVSeg3R to learn open-vocabulary 3D instance segmentation from well-studied 2D perception models with the aid of 3D reconstruction. OVSeg3R directly adopts reconstructed scenes from 2D…

Most recent 3D instance segmentation methods are open vocabulary, offering a greater flexibility than closed-vocabulary methods. Yet, they are limited to reasoning within a specific set of concepts, \ie the vocabulary, prompted by the user…

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for neural scene reconstruction, offering high-quality novel view synthesis while maintaining computational efficiency. In this paper, we extend the capabilities of 3DGS…

State-of-the-art models on contemporary 3D segmentation benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multiview RGB-D images. They are typically trained in-domain,…

Open-Vocabulary Segmentation (OVS) methods offer promising capabilities in detecting unseen object categories, but the category must be known and needs to be provided by a human, either via a text prompt or pre-labeled datasets, thus…

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…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…