相关论文: Locate 3D: Real-World Object Localization via Self…

Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

3D object grounding localizes referred objects in a 3D scene from natural language. Unified instance-centric 3D-LLMs aim to solve grounding together with dialog, QA, and captioning, yet many rely on a single pointer-style grounding decision…

3D Large Vision-Language Models (3D LVLMs) built upon Large Language Models (LLMs) have achieved remarkable progress across various multimodal tasks. However, their inherited position-dependent modeling mechanism, Rotary Position Embedding…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

Recent advances in self-supervised visual representation learning have demonstrated the effectiveness of predictive latent-space objectives for learning transferable features. In particular, Image-based Joint-Embedding Predictive…

Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e.,…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Robust and efficient local feature matching plays a crucial role in applications such as SLAM and visual localization for robotics. Despite great progress, it is still very challenging to extract robust and discriminative visual features in…

In this paper, we introduce a novel self-supervised learning (SSL) loss for image representation learning. There is a growing belief that generalization in deep neural networks is linked to their ability to discriminate object shapes. Since…

3D visual grounding is the task of localizing the object in a 3D scene which is referred by a description in natural language. With a wide range of applications ranging from autonomous indoor robotics to AR/VR, the task has recently risen…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

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…