相关论文: VLScene: Vision-Language Guidance Distillation for…

Scene-level 3D generation represents a critical frontier in multimedia and computer graphics, yet existing approaches either suffer from limited object categories or lack editing flexibility for interactive applications. In this paper, we…

Vision-Language Models (VLMs) are increasingly deployed in autonomous driving and embodied AI systems, where reliable perception is critical for safe semantic reasoning and decision-making. While recent VLMs demonstrate strong performance…

Despite recent advances in multimodal content generation enabled by vision-language models (VLMs), their ability to reason about and generate structured 3D scenes remains largely underexplored. This limitation constrains their utility in…

Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

Current techniques in Visual Simultaneous Localization and Mapping (VSLAM) estimate camera displacement by comparing image features of consecutive scenes. These algorithms depend on scene continuity, hence requires frequent camera inputs.…

Semantic scene completion aims to infer the 3D geometric structures with semantic classes from camera or LiDAR, which provide essential occupancy information in autonomous driving. Prior endeavors concentrate on constructing the network or…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

Existing 3D open-vocabulary scene understanding methods mostly emphasize distilling language features from 2D foundation models into 3D feature fields, but largely overlook the synergy among scene appearance, semantics, and geometry. As a…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Semantic scene completion (SSC) aims to complete a partial 3D scene and predict its semantics simultaneously. Most existing works adopt the voxel representations, thus suffering from the growth of memory and computation cost as the voxel…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

Decades of cognitive science establish that humans navigate environments by forming cognitive maps, defined as allocentric and topology-preserving representations of 3D space. While modern Vision-Language Models (VLMs) demonstrate emergent…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

3D Gaussian Splatting (3DGS) has recently gained great attention in the 3D scene representation for its high-quality real-time rendering capabilities. However, when the input comprises sparse training views, 3DGS is prone to overfitting,…