相关论文: Vision-based 3D Semantic Scene Completion via Capt…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

We propose a novel model for 3D semantic completion from a single depth image, based on a single encoder and three separate generators used to reconstruct different geometric and semantic representations of the original and completed scene,…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…

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…

Semantic Scene Completion (SSC) from monocular RGB images is a fundamental yet challenging task due to the inherent ambiguity of inferring occluded 3D geometry from a single view. While feed-forward methods have made progress, they often…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

Multi-modal 3D object understanding has gained significant attention, yet current approaches often assume complete data availability and rigid alignment across all modalities. We present CrossOver, a novel framework for cross-modal 3D scene…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a coupled encoder to deliver both semantic and geometric…

We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow,…

Dynamic scene rendering opens new avenues in autonomous driving by enabling closed-loop simulations with photorealistic data, which is crucial for validating end-to-end algorithms. However, the complex and highly dynamic nature of traffic…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

We present GuidedSceneGen, a text-to-3D generation framework that produces metrically accurate, globally consistent, and semantically interpretable indoor scenes. Unlike prior text-driven methods that often suffer from geometric drift or…

Given two consecutive frames from a pair of stereo cameras, 3D scene flow methods simultaneously estimate the 3D geometry and motion of the observed scene. Many existing approaches use superpixels for regularization, but may predict…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

Text-driven 3D scene editing has recently attracted increasing attention. Most existing methods follow a render-edit-optimize pipeline, where multi-view images are rendered from a 3D scene, edited with 2D image editors, and then used to…