相关论文: Point2Graph: An End-to-end Point Cloud-based 3D Op…

In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…

Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online…

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,…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Recent advancements in 3D Gaussian Splatting(3DGS) have significantly improved semantic scene understanding, enabling natural language queries to localize objects within a scene. However, existing methods primarily focus on embedding…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

Point cloud is a promising 3D representation for volumetric streaming in emerging AR/VR applications. Despite recent advances in point cloud compression, decoding and rendering high-quality images from lossy compressed point clouds is still…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

3D Point clouds are a rich source of information that enjoy growing popularity in the vision community. However, due to the sparsity of their representation, learning models based on large point clouds is still a challenge. In this work, we…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Out-of-distribution (OOD) detection in 3D point cloud data remains a challenge, particularly in applications where safe and robust perception is critical. While existing OOD detection methods have shown progress for 2D image data, extending…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

We present a novel graph-neural-network-based system to effectively represent large-scale 3D point clouds with the applications to autonomous driving. Many previous works studied the representations of 3D point clouds based on two…

Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

In this paper, based on the assumption that the object boundaries (e.g., buildings) from the over-view data should coincide with footprints of fa\c{c}ade 3D points generated from street-view photogrammetric images, we aim to address this…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…