相关论文: Object Agnostic 3D Lifting in Space and Time

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

Both goal-agnostic and goal-oriented tasks have practical value for robotic grasping: goal-agnostic tasks target all objects in the workspace, while goal-oriented tasks aim at grasping pre-assigned goal objects. However, most current…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Class-Agnostic Counting (CAC) seeks to accurately count objects in a given image with only a few reference examples. While previous methods achieving this relied on additional training, recent efforts have shown that it's possible to…

The ability to decompose complex multi-object scenes into meaningful abstractions like objects is fundamental to achieve higher-level cognition. Previous approaches for unsupervised object-oriented scene representation learning are either…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Class-agnostic object counting aims to count all objects in an image with respect to example boxes or class names, \emph{a.k.a} few-shot and zero-shot counting. In this paper, we propose a generalized framework for both few-shot and…

Object detection traditionally relies on fixed category sets, requiring costly re-training to handle novel objects. While Open-World and Open-Vocabulary Object Detection (OWOD and OVOD) improve flexibility, OWOD lacks semantic labels for…

Text-based video segmentation is a challenging task that segments out the natural language referred objects in videos. It essentially requires semantic comprehension and fine-grained video understanding. Existing methods introduce language…

In this paper, we propose a new operator, called 3D DeFormable Attention (DFA3D), for 2D-to-3D feature lifting, which transforms multi-view 2D image features into a unified 3D space for 3D object detection. Existing feature lifting…

Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…

An embodied AI assistant operating on egocentric video must integrate spatial cues across time - for instance, determining where an object A, glimpsed a few moments ago lies relative to an object B encountered later. We introduce…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…

Unsupervised video-based object-centric learning is a promising avenue to learn structured representations from large, unlabeled video collections, but previous approaches have only managed to scale to real-world datasets in restricted…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

Existing generative approaches for guided image synthesis of multi-object scenes typically rely on 2D controls in the image or text space. As a result, these methods struggle to maintain and respect consistent three-dimensional geometric…