相关论文: Graph-Guided Dual-Level Augmentation for 3D Scene …

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

In this work, a language-level Semantics Conditioned framework for 3D Point cloud segmentation, called SeCondPoint, is proposed, where language-level semantics are introduced to condition the modeling of point feature distribution as well…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

In this paper we propose an approach to perform semantic segmentation of 3D point cloud data by importing the geographic information from a 2D GIS layer (OpenStreetMap). The proposed automatic procedure identifies meaningful units such as…

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…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such as requiring precise camera poses for input and dense…

Data augmentation is crucial for pixel-wise annotation tasks like semantic segmentation, where labeling requires significant effort and intensive labor. Traditional methods, involving simple transformations such as rotations and flips,…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…