相关论文: SG-Reg: Generalizable and Efficient Scene Graph Re…

Despite the remarkable success of convolutional neural networks in various computer vision tasks, recognizing indoor scenes still presents a significant challenge due to their complex composition. Consequently, effectively leveraging…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

Scene graph generation (SGG) aims to detect objects and predict the relationships between each pair of objects. Existing SGG methods usually suffer from several issues, including 1) ambiguous object representations, as graph neural…

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…

Despite recent advancements in single-domain or single-object image generation, it is still challenging to generate complex scenes containing diverse, multiple objects and their interactions. Scene graphs, composed of nodes as objects and…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Generating scene graph to describe all the relations inside an image gains increasing interests these years. However, most of the previous methods use complicated structures with slow inference speed or rely on the external data, which…

Understanding traffic scenes requires considering heterogeneous information about dynamic agents and the static infrastructure. In this work we propose SCENE, a methodology to encode diverse traffic scenes in heterogeneous graphs and to…

Scene graph generation (SGG) aims to capture a wide variety of interactions between pairs of objects, which is essential for full scene understanding. Existing SGG methods trained on the entire set of relations fail to acquire complex…

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…

Scene graph generation (SGG) aims to predict graph-structured descriptions of input images, in the form of objects and relationships between them. This task is becoming increasingly useful for progress at the interface of vision and…

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…

We present a system for object recognition based on a semantic graph representation, which the system can learn from image examples. This graph is based on intrinsic properties of objects such as structure and geometry, so it is more robust…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

Image segmentation is a powerful computer vision technique for scene understanding. However, real-world deployment is stymied by the need for high-quality, meticulously labeled datasets. Synthetic data provides high-quality labels while…

Scene-Graph Generation (SGG) seeks to recognize objects in an image and distill their salient pairwise relationships. Most methods depend on dataset-specific supervision to learn the variety of interactions, restricting their usefulness in…

Effectively capturing intricate interactions among road users is of critical importance to achieving safe navigation for autonomous vehicles. While graph learning (GL) has emerged as a promising approach to tackle this challenge, existing…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Scene graph generation (SGG) analyzes images to extract meaningful information about objects and their relationships. In the dynamic visual world, it is crucial for AI systems to continuously detect new objects and establish their…