相关论文: SGAligner++: Cross-Modal Language-Aided 3D Scene G…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

We present ASAP, a new framework for detecting and grounding multi-modal media manipulation (DGM4).Upon thorough examination, we observe that accurate fine-grained cross-modal semantic alignment between the image and text is vital for…

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

This work presents the introduction of UniSG^GA, a novel integrated scenegraph structure, that to incorporates behavior and geometry data on a 3D scene. It is specifically designed to seamlessly integrate Graph Neural Networks (GNNs) and…

3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

In this paper we propose a neural message passing approach to augment an input 3D indoor scene with new objects matching their surroundings. Given an input, potentially incomplete, 3D scene and a query location, our method predicts a…

Scene Graph Generation (SGG) serves a comprehensive representation of the images for human understanding as well as visual understanding tasks. Due to the long tail bias problem of the object and predicate labels in the available annotated…

The whole is greater than the sum of its parts-even in 3D-text contrastive learning. We introduce SceneForge, a novel framework that enhances contrastive alignment between 3D point clouds and text through structured multi-object scene…

Multimodal learning plays a pivotal role in advancing artificial intelligence systems by incorporating information from multiple modalities to build a more comprehensive representation. Despite its importance, current state-of-the-art…

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…

In this paper, we propose a novel multimodal framework, Multimodal Language-Guided Network (MMLGNet), to align heterogeneous remote sensing modalities like Hyperspectral Imaging (HSI) and LiDAR with natural language semantics using…

Scene graph generation (SGG) is a sophisticated task that suffers from both complex visual features and dataset long-tail problem. Recently, various unbiased strategies have been proposed by designing novel loss functions and data balancing…

Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…

Scene Graph Generation (SGG) is a task that encodes visual relationships between objects in images as graph structures. SGG shows significant promise as a foundational component for downstream tasks, such as reasoning for embodied agents.…

3D scene understanding is crucial for facilitating seamless interaction between digital devices and the physical world. Real-time capturing and processing of the 3D scene are essential for achieving this seamless integration. While existing…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…