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

Some self-supervised cross-modal learning approaches have recently demonstrated the potential of image signals for enhancing point cloud representation. However, it remains a question on how to directly model cross-modal local and global…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

Localizing objects in 3D scenes based on natural language requires understanding and reasoning about spatial relations. In particular, it is often crucial to distinguish similar objects referred by the text, such as "the left most chair"…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Vision-language models like CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions because of their training focus on short and concise captions. We present…

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Scene generation with 3D assets presents a complex challenge, requiring both high-level semantic understanding and low-level geometric reasoning. While Multimodal Large Language Models (MLLMs) excel at semantic tasks, their application to…

The widespread adoption of location-based services has led to the generation of vast amounts of mobility data, providing significant opportunities to model user movement dynamics within urban environments. Recent advancements have focused…

This paper presents a knowledge-based detection of objects approach using the OWL ontology language, the Semantic Web Rule Language, and 3D processing built-ins aiming at combining geometrical analysis of 3D point clouds and specialist's…

3D localization in Multimodal Large Language Models (MLLMs), including 3D object detection and 3D visual grounding, is fundamentally limited by camera intrinsic ambiguity: the same image admits different 3D scenes under different cameras.…

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…

The scale and quality of point cloud datasets constrain the advancement of point cloud learning. Recently, with the development of multi-modal learning, the incorporation of domain-agnostic prior knowledge from other modalities, such as…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…

Localization on 3D data is a challenging task for unmanned vehicles, especially in long-term dynamic urban scenarios. Due to the generality and long-term stability, the pole-like objects are very suitable as landmarks for unmanned vehicle…

This paper tackles the challenging task of 3D visual grounding-locating a specific object in a 3D point cloud scene based on text descriptions. Existing methods fall into two categories: top-down and bottom-up methods. Top-down methods rely…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…