相关论文: DSPNet: Dual-vision Scene Perception for Robust 3D…

Existing deep learning based methods effectively prompt the performance of aerial scene classification. However, due to the large amount of parameters and computational cost, it is rather difficult to apply these methods to multiple…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…

Attention mechanism of late has been quite popular in the computer vision community. A lot of work has been done to improve the performance of the network, although almost always it results in increased computational complexity. In this…

Scene graphs have proven to be highly effective for various scene understanding tasks due to their compact and explicit representation of relational information. However, current methods often overlook the critical importance of preserving…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

3D visual grounding is an emerging research area dedicated to making connections between the 3D physical world and natural language, which is crucial for achieving embodied intelligence. In this paper, we propose DASANet, a Dual…

3D scene understanding plays a fundamental role in vision applications such as robotics, autonomous driving, and augmented reality. However, advancing learning-based 3D scene understanding remains challenging due to two key limitations: (1)…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Fluid motion can be considered as a point cloud transformation when using the SPH method. Compared to traditional numerical analysis methods, using machine learning techniques to learn physics simulations can achieve near-accurate results,…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…