相关论文: DC-Scene: Data-Centric Learning for 3D Scene Under…

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data…

Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem,…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

Learning object-centric scene representations is essential for attaining structural understanding and abstraction of complex scenes. Yet, as current approaches for unsupervised object-centric representation learning are built upon either a…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

The use of rendered images, whether from completely synthetic datasets or from 3D reconstructions, is increasingly prevalent in vision tasks. However, little attention has been given to how the selection of viewpoints affects the…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

Scene flow is a powerful tool for capturing the motion field of 3D point clouds. However, it is difficult to directly apply flow-based models to dynamic point cloud classification since the unstructured points make it hard or even…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

Object viewpoint estimation from 2D images is an essential task in computer vision. However, two issues hinder its progress: scarcity of training data with viewpoint annotations, and a lack of powerful features. Inspired by the growing…

We introduce the task of dense captioning in 3D scans from commodity RGB-D sensors. As input, we assume a point cloud of a 3D scene; the expected output is the bounding boxes along with the descriptions for the underlying objects. To…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

With the availability of low-cost and compact 2.5/3D visual sensing devices, computer vision community is experiencing a growing interest in visual scene understanding of indoor environments. This survey paper provides a comprehensive…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Large-scale datasets have been pivotal to the advancements of deep learning models in recent years, but training on such large datasets invariably incurs substantial storage and computational overhead. Meanwhile, real-world datasets often…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…