相关论文: Vector Quantized Feature Fields for Fast 3D Semant…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reexamine the critical design choices established in previous…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

We propose a fast, accurate matching method for estimating dense pixel correspondences across scenes. It is a challenging problem to estimate dense pixel correspondences between images depicting different scenes or instances of the same…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

We introduce Generalizable 3D-Language Feature Fields (g3D-LF), a 3D representation model pre-trained on large-scale 3D-language dataset for embodied tasks. Our g3D-LF processes posed RGB-D images from agents to encode feature fields for:…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Video semantic segmentation is active in recent years benefited from the great progress of image semantic segmentation. For such a task, the per-frame image segmentation is generally unacceptable in practice due to high computation cost. To…

Face animation is a challenging task. Existing model-based methods (utilizing 3DMMs or landmarks) often result in a model-like reconstruction effect, which doesn't effectively preserve identity. Conversely, model-free approaches face…

Keypoint detection and description is fundamental yet important in many vision applications. Most existing methods use detect-then-describe or detect-and-describe strategy to learn local features without considering their context…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

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…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Relevant language describing visual features in charts can be useful for authoring captions and summaries about the charts to help with readers' takeaways. To better understand the interplay between concepts that describe visual features…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…

Recent approaches for instance-aware semantic labeling have augmented convolutional neural networks (CNNs) with complex multi-task architectures or computationally expensive graphical models. We present a method that leverages a fully…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…