相关论文: TRASE: Tracking-free 4D Segmentation and Editing

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…

Deep neural networks are powerful tools for biomedical image segmentation. These models are often trained with heavy supervision, relying on pairs of images and corresponding voxel-level labels. However, obtaining segmentations of…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

3D part segmentation is a crucial and challenging task in 3D perception, playing a vital role in applications such as robotics, 3D generation, and 3D editing. Recent methods harness the powerful Vision Language Models (VLMs) for 2D-to-3D…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Semantic segmentation plays a critical role in enabling intelligent vehicles to comprehend their surrounding environments. However, deep learning-based methods usually perform poorly in domain shift scenarios due to the lack of labeled data…

We introduce SAMPro3D for zero-shot instance segmentation of 3D scenes. Given the 3D point cloud and multiple posed RGB-D frames of 3D scenes, our approach segments 3D instances by applying the pretrained Segment Anything Model (SAM) to 2D…

Path tracing offers high-fidelity rendering but remains impractical for real-time applications due to slow convergence and noise. We present a dynamic foveated path tracing technique that leverages visual perception by reducing sampling…

Identifying independently moving objects is an essential task for dynamic scene understanding. However, traditional cameras used in dynamic scenes may suffer from motion blur or exposure artifacts due to their sampling principle. By…

3D Gaussian Splatting (3D-GS) enables real-time 3D scene reconstruction but lacks robust segmentation for editing tasks such as object removal, extraction, and recoloring. Existing approaches that lift 2D segmentations to the 3D domain…

Sparse sampling schemes have the potential to dramatically reduce image acquisition time while simultaneously reducing radiation damage to samples. However, for a sparse sampling scheme to be useful it is important that we are able to…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

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…

Interactive segmentation, a computer vision technique where a user provides guidance to help an algorithm segment a feature of interest in an image, has achieved outstanding accuracy and efficient human-computer interaction. However, few…

While recent Transformer-based approaches have shown impressive performances on event-based object detection tasks, their high computational costs still diminish the low power consumption advantage of event cameras. Image-based works…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…