相关论文: PGOV3D: Open-Vocabulary 3D Semantic Segmentation w…

Recent works propose extending 3DGS with semantic feature vectors for simultaneous semantic segmentation and image rendering. However, these methods often treat the semantic and rendering branches separately, relying solely on 2D…

Open-vocabulary 3D panoptic segmentation has recently emerged as a significant trend. Top-performing methods currently integrate 2D segmentation with geometry-aware 3D primitives. However, the advantage would be lost without high-fidelity…

Deep learning-based segmentation techniques have shown remarkable performance in brain segmentation, yet their success hinges on the availability of extensive labeled training data. Acquiring such vast datasets, however, poses a significant…

Reconstructing semantic-aware 3D scenes from sparse views is a challenging yet essential research direction, driven by the demands of emerging applications such as virtual reality and embodied AI. Existing per-scene optimization methods…

The rapid growth of 3D digital content necessitates expandable recognition systems for open-world scenarios. However, existing 3D class-incremental learning methods struggle under extreme data scarcity due to geometric misalignment and…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…

Semantic segmentation is a crucial task in computer vision that involves segmenting images into semantically meaningful regions at the pixel level. However, existing approaches often rely on expensive human annotations as supervision for…

Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object bounding boxes for 3D panoptic segmentation, which is not…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

This paper introduces OpenGaussian, a method based on 3D Gaussian Splatting (3DGS) capable of 3D point-level open vocabulary understanding. Our primary motivation stems from observing that existing 3DGS-based open vocabulary methods mainly…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Segmenting and recognizing diverse object parts is a crucial ability in applications spanning various computer vision and robotic tasks. While significant progress has been made in object-level Open-Vocabulary Semantic Segmentation (OVSS),…