相关论文: SAS: Segment Any 3D Scene with Integrated 2D Prior…

In semantic segmentation, generalizing a visual system to both seen categories and novel categories at inference time has always been practically valuable yet challenging. To enable such functionality, existing methods mainly rely on either…

3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…

Recent advances in point cloud perception have demonstrated remarkable progress in scene understanding through vision-language alignment leveraging large language models (LLMs). However, existing methods may still encounter challenges in…

The semantically interactive radiance field has always been an appealing task for its potential to facilitate user-friendly and automated real-world 3D scene understanding applications. However, it is a challenging task to achieve high…

As the most fundamental scene understanding tasks, object detection and segmentation have made tremendous progress in deep learning era. Due to the expensive manual labeling cost, the annotated categories in existing datasets are often…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

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

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

The ability to deploy robots that can operate safely in diverse environments is crucial for developing embodied intelligent agents. As a community, we have made tremendous progress in within-domain LiDAR semantic segmentation. However, do…

Segmenting 3D objects into parts is a long-standing challenge in computer vision. To overcome taxonomy constraints and generalize to unseen 3D objects, recent works turn to open-world part segmentation. These approaches typically transfer…

To address prevalent issues in medical imaging, such as data acquisition challenges and label availability, transfer learning from natural to medical image domains serves as a viable strategy to produce reliable segmentation results.…

Unsupervised and open-vocabulary 3D object detection has recently gained attention, particularly in autonomous driving, where reducing annotation costs and recognizing unseen objects are critical for both safety and scalability. However,…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Although perception systems have made remarkable advancements in recent years, particularly in 2D reasoning segmentation, these systems still rely on explicit human instruction or pre-defined categories to identify target objects before…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Open-vocabulary semantic segmentation is a challenging task, which requires the model to output semantic masks of an image beyond a close-set vocabulary. Although many efforts have been made to utilize powerful CLIP models to accomplish…