相关论文: Multi-Object 3D Grounding with Dynamic Modules and…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

We study long-horizon planning in 3D environments from under-specified natural-language goals using only visual observations, focusing on multi-step 3D box rearrangement tasks. Existing approaches typically rely on symbolic planners with…

Multimodal Large Language Models (MLLMs) exhibit impressive capabilities across a variety of tasks, especially when equipped with carefully designed visual prompts. However, existing studies primarily focus on logical reasoning and visual…

Driver gaze estimation serves as a fundamental metric for evaluating driver attentiveness in modern monitoring systems. Beyond being vulnerable to sudden lighting changes and sensor noise, spatial-domain models struggle to disentangle…

With the aim of promoting and understanding the multilingual version of image search, we leverage visual object detection and propose a model with diverse multi-head attention to learn grounded multilingual multimodal representations.…

3D visual grounding aims to identify the target object within a 3D point cloud scene referred to by a natural language description. Previous works usually require significant data relating to point color and their descriptions to exploit…

3D localization in Multimodal Large Language Models (MLLMs), including 3D object detection and 3D visual grounding, is fundamentally limited by camera intrinsic ambiguity: the same image admits different 3D scenes under different cameras.…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

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…

3D vision-language grounding faces a fundamental data bottleneck: while 2D models train on billions of images, 3D models have access to only thousands of labeled scenes--a six-order-of-magnitude gap that severely limits performance. We…

We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Training models to apply common-sense linguistic knowledge and visual concepts from 2D images to 3D scene understanding is a promising direction that researchers have only recently started to explore. However, it still remains understudied…

Vision-Language-Action models have achieved remarkable progress in robotic manipulation, yet they suffer from a critical limitation: a lack of 3D scene understanding. This deficiency manifests as three intertwined challenges: weak…

3D dense captioning is a task involving the localization of objects and the generation of descriptions for each object in a 3D scene. Recent approaches have attempted to incorporate contextual information by modeling relationships with…

This paper proposes a fast and online method for jointly performing 3D multi-object tracking and pose estimation using multiple monocular cameras. Our algorithm requires only 2D bounding box and pose detections, eliminating the need for…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

Situation awareness is essential for understanding and reasoning about 3D scenes in embodied AI agents. However, existing datasets and benchmarks for situated understanding are limited in data modality, diversity, scale, and task scope. To…