相关论文: 3D Part Segmentation via Geometric Aggregation of …

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

Effectively summarizing dense 3D point cloud data and extracting motion information of moving objects (moving object segmentation, MOS) is crucial to autonomous driving and robotics applications. How to effectively utilize motion and…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

Video object segmentation methods like SAM2 achieve strong performance through memory-based architectures but struggle under large viewpoint changes due to reliance on appearance features. Traditional 3D instance segmentation methods…

Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D…

We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…

In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel…

Segmenting semantic objects from images and parsing them into their respective semantic parts are fundamental steps towards detailed object understanding in computer vision. In this paper, we propose a joint solution that tackles semantic…

Recent advancements in 3D reconstruction technologies have paved the way for high-quality and real-time rendering of complex 3D scenes. Despite these achievements, a notable challenge persists: it is difficult to precisely reconstruct…

Camouflaged Object Detection (COD) refers to the task of identifying and segmenting objects that blend seamlessly into their surroundings, posing a significant challenge for computer vision systems. In recent years, COD has garnered…

Existing open-vocabulary object detection (OVD) develops methods for testing unseen categories by aligning object region embeddings with corresponding VLM features. A recent study leverages the idea that VLMs implicitly learn compositional…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

In this work, we propose SAM3D, a novel framework that is able to predict masks in 3D point clouds by leveraging the Segment-Anything Model (SAM) in RGB images without further training or finetuning. For a point cloud of a 3D scene with…

We present MeshSegmenter, a simple yet effective framework designed for zero-shot 3D semantic segmentation. This model successfully extends the powerful capabilities of 2D segmentation models to 3D meshes, delivering accurate 3D…

Zero-shot 3D part segmentation is a challenging and fundamental task. In this work, we propose a novel pipeline, ZeroPS, which achieves high-quality knowledge transfer from 2D pretrained foundation models (FMs), SAM and GLIP, to 3D object…

We present a deep learning method that propagates point-wise feature representations across shapes within a collection for the purpose of 3D shape segmentation. We propose a cross-shape attention mechanism to enable interactions between a…

Point clouds are a set of data points in space to represent the 3D geometry of objects. A fundamental step in the processing is to identify a subset of points to represent the shape. While traditional sampling methods often ignore to…

Recent progress in 3D object generation has greatly improved both the quality and efficiency. However, most existing methods generate a single mesh with all parts fused together, which limits the ability to edit or manipulate individual…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…