相关论文: OpenLex3D: A Tiered Evaluation Benchmark for Open-…

Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle with…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

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,…

Open-vocabulary segmentation aims to achieve segmentation of arbitrary categories given unlimited text inputs as guidance. To achieve this, recent works have focused on developing various technical routes to exploit the potential of…

We propose OpenVoxel, a training-free algorithm for grouping and captioning sparse voxels for the open-vocabulary 3D scene understanding tasks. Given the sparse voxel rasterization (SVR) model obtained from multi-view images of a 3D scene,…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

Open-vocabulary 3D scene understanding is pivotal for enhancing physical intelligence, as it enables embodied agents to interpret and interact dynamically within real-world environments. This paper introduces MPEC, a novel Masked…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

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…

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…

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…

Open-vocabulary scene understanding aims to localize and recognize unseen categories beyond the annotated label space. The recent breakthrough of 2D open-vocabulary perception is largely driven by Internet-scale paired image-text data with…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

Detecting objects in 3D space from monocular input is crucial for applications ranging from robotics to scene understanding. Despite advanced performance in the indoor and autonomous driving domains, existing monocular 3D detection models…