相关论文: CMMLoc: Advancing Text-to-PointCloud Localization …

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

Location- and context-aware services are emerging technologies in mobile and desktop environments, however, most of them are difficult to use and do not seem to be beneficial enough. Our research focuses on designing and creating a…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

We present 3D Highlighter, a technique for localizing semantic regions on a mesh using text as input. A key feature of our system is the ability to interpret "out-of-domain" localizations. Our system demonstrates the ability to reason about…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Recent advances in point cloud In-Context Learning (ICL) have demonstrated strong multitask capabilities. Existing approaches typically adopt a Masked Point Modeling (MPM)-based paradigm for point cloud ICL. However, MPM-based methods…

Point clouds have recently gained interest, especially for real-time applications and for 3D-scanned material, such as is used in autonomous driving, architecture, and engineering, to model real estate for renovation or display. Point…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

Most of existing category-level object pose estimation methods devote to learning the object category information from point cloud modality. However, the scale of 3D datasets is limited due to the high cost of 3D data collection and…

Large language models (LLMs) and multimodal large models (MLLMs) are increasingly used for transportation tasks such as regulation question answering, traffic management support, engineering review, and autonomous-driving scene reasoning.…

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

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…

In recent years, Multi-modal Large Language Models (MLLMs) have achieved strong performance in OCR-centric Visual Question Answering (VQA) tasks, illustrating their capability to process heterogeneous data and exhibit adaptability across…

Open-world instance-level scene understanding aims to locate and recognize unseen object categories that are not present in the annotated dataset. This task is challenging because the model needs to both localize novel 3D objects and infer…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

This work addresses the 3D situated reasoning task which aims to answer questions given egocentric observations in a 3D environment. The task remains challenging as it requires comprehensive 3D perception and complex reasoning skills.…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

Consider a scenario in one-shot query-guided object localization where neither an image of the object nor the object category name is available as a query. In such a scenario, a hand-drawn sketch of the object could be a choice for a query.…

Multi-Object Tracking (MOT) is evolving from geometric localization to Semantic MOT (SMOT) to answer complex relational queries, yet progress is hindered by semantic data scarcity and a structural disconnect between tracking architectures…