相关论文: Foundational Models for 3D Point Clouds: A Survey …

Large Language Models (LLMs) have emerged as a transformative AI paradigm, profoundly influencing daily life through their exceptional language understanding and contextual generation capabilities. Despite their remarkable performance, LLMs…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Current visual foundation models are trained purely on unstructured 2D data, limiting their understanding of 3D structure of objects and scenes. In this work, we show that fine-tuning on 3D-aware data improves the quality of emerging…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

Point clouds are a popular representation for 3D shapes. However, they encode a particular sampling without accounting for shape priors or non-local information. We advocate for the use of a hierarchical Gaussian mixture model (hGMM), which…

While 3D point clouds are widely used in vision applications, their irregular and sparse nature make them challenging to handle. In response, numerous encoding approaches have been proposed to capture the rich semantic information of point…

The integration of Foundation Models (FMs) with Federated Learning (FL) presents a transformative paradigm in Artificial Intelligence (AI). This integration offers enhanced capabilities, while addressing concerns of privacy, data…

The superior performances of pre-trained foundation models in various visual tasks underscore their potential to enhance the 2D models' open-vocabulary ability. Existing methods explore analogous applications in the 3D space. However, most…

Understanding functionalities in 3D scenes involves interpreting natural language descriptions to locate functional interactive objects, such as handles and buttons, in a 3D environment. Functionality understanding is highly challenging, as…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

Given that visual foundation models (VFMs) are trained on extensive datasets but often limited to 2D images, a natural question arises: how well do they understand the 3D world? With the differences in architecture and training protocols…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

Recent studies on visual reinforcement learning (visual RL) have explored the use of 3D visual representations. However, none of these work has systematically compared the efficacy of 3D representations with 2D representations across…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved,…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Natural language offers a highly intuitive interface for enabling localized fine-grained edits of 3D shapes. However, prior works face challenges in preserving global coherence while locally modifying the input 3D shape. In this work, we…

Understanding 3D scenes requires flexible combinations of visual reasoning tasks, including depth estimation, novel view synthesis, and object manipulation, all of which are essential for perception and interaction. Existing approaches have…