相关论文: Open-Vocabulary Octree-Graph for 3D Scene Understa…

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.…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…

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…

Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…

In point cloud compression, sufficient contexts are significant for modeling the point cloud distribution. However, the contexts gathered by the previous voxel-based methods decrease when handling sparse point clouds. To address this…

Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by…

3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose estimation and 3D reconstruction of objects. Current…

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…

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…

A key challenge for LiDAR-based 3D object detection is to capture sufficient features from large scale 3D scenes especially for distant or/and occluded objects. Albeit recent efforts made by Transformers with the long sequence modeling…

Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Open-vocabulary scene understanding aims to localize and recognize unseen categories beyond the annotated label space. The recent breakthrough of 2D open-vocabulary perception is largely driven by Internet-scale paired image-text data with…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Existing open-vocabulary 3D semantic segmentation methods typically supervise 3D segmentation models by merging text-aligned features (e.g., CLIP) extracted from multi-view images onto 3D points. However, such approaches treat multi-view…

Scene Graph Generation (SGG) offers a structured representation critical in many computer vision applications. Traditional SGG approaches, however, are limited by a closed-set assumption, restricting their ability to recognize only…

Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-level understanding,…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Scene flow represents the motion information of each point in the 3D point clouds. It is a vital downstream method applied to many tasks, such as motion segmentation and object tracking. However, there are always occlusion points between…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…