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

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other. Recently, however, the community has realized that…

Graph-structured data plays a vital role in numerous domains, such as social networks, citation networks, commonsense reasoning graphs and knowledge graphs. While graph neural networks have been employed for graph processing, recent…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

With the increasing global popularity of self-driving cars, there is an immediate need for challenging real-world datasets for benchmarking and training various computer vision tasks such as 3D object detection. Existing datasets either…

Robots collaborating with humans in realistic environments will need to be able to detect the tools that can be used and manipulated. However, there is no available dataset or study that addresses this challenge in real settings. In this…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Deep Neural Networks require large amounts of labeled data for their training. Collecting this data at scale inevitably causes label noise.Hence,the need to develop learning algorithms that are robust to label noise. In recent years, k…

Limited by the computational efficiency and accuracy, generating complex 3D scenes remains a challenging problem for existing generation networks. In this work, we propose DepthGAN, a novel method of generating depth maps with only semantic…

3D automatic annotation has received increased attention since manually annotating 3D point clouds is laborious. However, existing methods are usually complicated, e.g., pipelined training for 3D foreground/background segmentation,…

Semantic segmentation for medical 3D image stacks enables accurate volumetric reconstructions, computer-aided diagnostics and follow up treatment planning. In this work, we present a novel variant of the Unet model called the NUMSnet that…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly been developed and limited to be task-specific. We introduce…

Recent advancements in vision transformers (ViTs) have demonstrated that larger models often achieve superior performance. However, training these models remains computationally intensive and costly. To address this challenge, we introduce…

Large ground-truth datasets and recent advances in deep learning techniques have been useful for layout detection. However, because of the restricted layout diversity of these datasets, training on them requires a sizable number of…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

The success of deep learning in vision can be attributed to: (a) models with high capacity; (b) increased computational power; and (c) availability of large-scale labeled data. Since 2012, there have been significant advances in…