相关论文: ARKit LabelMaker: A New Scale for Indoor 3D Scene …

Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The…

This paper addresses the task of large-scale 3D scene reconstruction from long video sequences. Recent feed-forward reconstruction models have shown promising results by directly regressing 3D geometry from RGB images without explicit 3D…

Labelling large datasets for training high-capacity neural networks is a major obstacle to the development of deep learning-based medical imaging applications. Here we present a transformer-based network for magnetic resonance imaging (MRI)…

Significant progress has been achieved in Computer Vision by leveraging large-scale image datasets. However, large-scale datasets for complex Computer Vision tasks beyond classification are still limited. This paper proposed a large-scale…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

Learning-based methods for 3D scene reconstruction and object completion require large datasets containing partial scans paired with complete ground-truth geometry. However, acquiring such datasets using real-world scanning systems is…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Training deep neural networks for 3D segmentation tasks can be challenging, often requiring efficient and effective strategies to improve model performance. In this study, we introduce a novel approach, DeCode, that utilizes label-derived…

Recent research in the field of computer vision strongly focuses on deep learning architectures to tackle image processing problems. Deep neural networks are often considered in complex image processing scenarios since traditional computer…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

We introduce BuildingNet: (a) a large-scale dataset of 3D building models whose exteriors are consistently labeled, (b) a graph neural network that labels building meshes by analyzing spatial and structural relations of their geometric…

To better understand scene images in the field of remote sensing, multi-label annotation of scene images is necessary. Moreover, to enhance the performance of deep learning models for dealing with semantic scene understanding tasks, it is…

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…

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Polygonal meshes have become the standard for discretely approximating 3D shapes, thanks to their efficiency and high flexibility in capturing non-uniform shapes. This non-uniformity, however, leads to irregularity in the mesh structure,…