相关论文: Learning 3D Scene Analogies with Neural Contextual…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Contextual information plays an important role in many computer vision tasks, such as object detection, video action detection, image classification, etc. Recognizing a single object or action out of context could be sometimes very…

We introduce the Reality-linked 3D Scenes (R3DS) dataset of synthetic 3D scenes mirroring the real-world scene arrangements from Matterport3D panoramas. Compared to prior work, R3DS has more complete and densely populated scenes with…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

The ability for computational agents to reason about the high-level content of real world scene images is important for many applications. Existing attempts at addressing the problem of complex scene understanding lack representational…

Open-vocabulary 3D scene understanding is crucial for applications requiring natural language-driven spatial interpretation, such as robotics and augmented reality. While 3D Gaussian Splatting (3DGS) offers a powerful representation for…

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…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

We propose the method that uses only computer graphics datasets to parse the real world 3D scenes. 3D scene parsing based on semantic segmentation is required to implement the categorical interaction in the virtual world. Convolutional…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Context plays a crucial role in visual recognition as it provides complementary clues for different learning tasks including image classification and annotation. As the performances of these tasks are currently reaching a plateau, any extra…

Visual context is important in object recognition and it is still an open problem in computer vision. Along with the advent of deep convolutional neural networks (CNN), using contextual information with such systems starts to receive…

We present an open-source, real-time implementation of SemanticPaint, a system for geometric reconstruction, object-class segmentation and learning of 3D scenes. Using our system, a user can walk into a room wearing a depth camera and a…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

Learning editable high-resolution scene representations for dynamic scenes is an open problem with applications across the domains from autonomous driving to creative editing - the most successful approaches today make a trade-off between…

Real-world objects occur in specific contexts. Such context has been shown to facilitate detection by constraining the locations to search. But can context directly benefit object detection? To do so, context needs to be learned…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

3D scan geometry and CAD models often contain complementary information towards understanding environments, which could be leveraged through establishing a mapping between the two domains. However, this is a challenging task due to strong,…