相关论文: AGO: Adaptive Grounding for Open World 3D Occupanc…

Obtaining high-quality 3D semantic occupancy from raw sensor data remains an essential yet challenging task, often requiring extensive manual labeling. In this work, we propose AutoOcc, a vision-centric automated pipeline for open-ended…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…

Multi-modal 3D semantic segmentation is vital for applications such as autonomous driving and virtual reality (VR). To effectively deploy these models in real-world scenarios, it is essential to employ cross-domain adaptation techniques…

Traditional object detection methods operate under the closed-set assumption, where models can only detect a fixed number of objects predefined in the training set. Recent works on open vocabulary object detection (OVD) enable the detection…

Language-based object detection (LOD) aims to align visual objects with language expressions. A large amount of paired data is utilized to improve LOD model generalizations. During the training process, recent studies leverage…

Grounding language in the physical world requires AI systems to interpret references that emerge dynamically during conversation. While current vision-language models (VLMs) excel at static image tasks, they struggle to resolve ambiguous…

Learning to infer labels in an open world, i.e., in an environment where the target ``labels'' are unknown, is an important characteristic for achieving autonomy. Foundation models, pre-trained on enormous amounts of data, have shown…

Open-world detection poses significant challenges, as it requires the detection of any object using either object class labels or free-form texts. Existing related works often use large-scale manual annotated caption datasets for training,…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…

The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previous methods focus on the learning of object-level…

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…

Recent advancements in 3D Gaussian Splatting have significantly improved the efficiency and quality of dense semantic SLAM. However, previous methods are generally constrained by limited-category pre-trained classifiers and implicit…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…