相关论文: LOSC: LiDAR Open-voc Segmentation Consolidator

In semi-supervised semantic segmentation, a model is trained with a limited number of labeled images along with a large corpus of unlabeled images to reduce the high annotation effort. While previous methods are able to learn good…

To ease the difficulty of acquiring annotation labels in 3D data, a common method is using unsupervised and open-vocabulary semantic segmentation, which leverage 2D CLIP semantic knowledge. In this paper, unlike previous research that…

Recent advancements in open-vocabulary 3D scene understanding heavily rely on 3D Gaussian Splatting (3DGS) to register vision-language features into 3D space. However, we identify two critical limitations in these approaches: the spatial…

While Contrastive Language-Image Pre-training (CLIP) has advanced open-vocabulary predictions, its performance on semantic segmentation remains suboptimal. This shortfall primarily stems from its spatial-invariant semantic features and…

We present ODISE: Open-vocabulary DIffusion-based panoptic SEgmentation, which unifies pre-trained text-image diffusion and discriminative models to perform open-vocabulary panoptic segmentation. Text-to-image diffusion models have the…

Open-vocabulary semantic segmentation requires assigning pixel-level semantic labels while supporting an open and unrestricted set of categories. Training-free CLIP-based approaches preserve strong zero-shot generalization but typically…

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…

We propose the SAL (Segment Anything in Lidar) method consisting of a text-promptable zero-shot model for segmenting and classifying any object in Lidar, and a pseudo-labeling engine that facilitates model training without manual…

We aim at advancing open-vocabulary object detection, which detects objects described by arbitrary text inputs. The fundamental challenge is the availability of training data. It is costly to further scale up the number of classes contained…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

This paper introduces a novel method for open-vocabulary 3D scene querying in autonomous driving by combining Language Embedded 3D Gaussians with Large Language Models (LLMs). We propose utilizing LLMs to generate both contextually…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

Vision Language Models (VLMs) have demonstrated remarkable performance in open-world zero-shot visual recognition. However, their potential in space-related applications remains largely unexplored. In the space domain, accurate manual…

Learning from pseudo-labels that generated with VLMs~(Vision Language Models) has been shown as a promising solution to assist open vocabulary detection (OVD) in recent studies. However, due to the domain gap between VLM and…

When trained at a sufficient scale, self-supervised learning has exhibited a notable ability to solve a wide range of visual or language understanding tasks. In this paper, we investigate simple, yet effective approaches for adapting the…

The goal of Audio-Visual Segmentation (AVS) is to localize and segment the sounding source objects from video frames. Research on AVS suffers from data scarcity due to the high cost of fine-grained manual annotations. Recent works attempt…

To bridge the gap between supervised semantic segmentation and real-world applications that acquires one model to recognize arbitrary new concepts, recent zero-shot segmentation attracts a lot of attention by exploring the relationships…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…