相关论文: Graph2Nav: 3D Object-Relation Graph Generation to …

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…

Variable scene layouts and coexisting objects across scenes make indoor scene recognition still a challenging task. Leveraging object information within scenes to enhance the distinguishability of feature representations has emerged as a…

Scene graph generation has received growing attention with the advancements in image understanding tasks such as object detection, attributes and relationship prediction,~\etc. However, existing datasets are biased in terms of object and…

This paper presents a framework for jointly grounding objects that follow certain semantic relationship constraints given in a scene graph. A typical natural scene contains several objects, often exhibiting visual relationships of varied…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

We propose an approach to predict the 3D shape and pose for the objects present in a scene. Existing learning based methods that pursue this goal make independent predictions per object, and do not leverage the relationships amongst them.…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…

Object classification with 3D data is an essential component of any scene understanding method. It has gained significant interest in a variety of communities, most notably in robotics and computer graphics. While the advent of deep…

The ability to map descriptions of scenes to 3D geometric representations has many applications in areas such as art, education, and robotics. However, prior work on the text to 3D scene generation task has used manually specified object…

In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…

We investigate the incorporation of visual relationships into the task of supervised image caption generation by proposing a model that leverages detected objects and auto-generated visual relationships to describe images in natural…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

How can we build general-purpose robot systems for open-world semantic navigation, e.g., searching a novel environment for a target object specified in natural language? To tackle this challenge, we introduce OSG Navigator, a modular system…

Scene-graph generation involves creating a structural representation of the relationships between objects in a scene by predicting subject-object-relation triplets from input data. Existing methods show poor performance in detecting…