相关论文: Just Add Geometry: Gradient-Free Open-Vocabulary 3…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM),…

Open-vocabulary 3D scene understanding (OV-3D) aims to localize and classify novel objects beyond the closed set of object classes. However, existing approaches and benchmarks primarily focus on the open vocabulary problem within the…

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…

The goal of this work is to establish a scalable pipeline for expanding an object detector towards novel/unseen categories, using zero manual annotations. To achieve that, we make the following four contributions: (i) in pursuit of…

The connection between our 3D surroundings and the descriptive language that characterizes them would be well-suited for localizing and generating human motion in context but for one problem. The complexity introduced by multiple modalities…

Open-vocabulary detectors are proposed to locate and recognize objects in novel classes. However, variations in vision-aware language vocabulary data used for open-vocabulary learning can lead to unfair and unreliable evaluations. Recent…

Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where RGB-D images or camera poses are not readily available. To…

Diffusion models have exhibited remarkable prowess in visual generalization. Building on this success, we introduce an instruction-based object addition pipeline, named Add-SD, which automatically inserts objects into realistic scenes with…

The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…

Vision-Language Models (VLMs) have shown remarkable performance on diverse visual and linguistic tasks, yet they remain fundamentally limited in their understanding of 3D spatial structures. We propose Geometric Distillation, a lightweight,…

Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality,…

Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation…

Understanding objects in 3D from a single image is a cornerstone of spatial intelligence. A key step toward this goal is monocular 3D object detection--recovering the extent, location, and orientation of objects from an input RGB image. To…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

The training of deep-learning-based 3D object detectors requires large datasets with 3D bounding box labels for supervision that have to be generated by hand-labeling. We propose a network architecture and training procedure for learning…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…