相关论文: KeySG: Hierarchical Keyframe-Based 3D Scene Graphs

Visual interactivity understanding within visual scenes presents a significant challenge in computer vision. Existing methods focus on complex interactivities while leveraging a simple relationship model. These methods, however, struggle…

Recent progress in vision-language models (VLMs) has opened new possibilities for robot task planning, but these models often produce incorrect action sequences. To address these limitations, we propose VeriGraph, a novel framework that…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…

In the era of Generative AI, Neurosymbolic AI is emerging as a powerful approach for tasks spanning from perception to cognition. The use of Neurosymbolic AI has been shown to achieve enhanced capabilities, including improved grounding,…

Multimodal Large Language Models (MLLMs) have demonstrated significant capabilities in image understanding, but long-video are constrained by context windows and computational cost. Uniform frame sampling often leads to substantial…

Scene Graph Generation (SGG) unifies object localization and visual relationship reasoning by predicting boxes and subject-predicate-object triples. Yet most pipelines treat SGG as a one-shot, deterministic classification problem rather…

Surgical procedures are conducted in highly complex operating rooms (OR), comprising different actors, devices, and interactions. To date, only medically trained human experts are capable of understanding all the links and interactions in…

Despite recent advances in retrieval-augmented generation (RAG) for video understanding, effectively understanding long-form video content remains underexplored due to the vast scale and high complexity of video data. Current RAG approaches…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…

Scene graph generation (SGG) endeavors to predict visual relationships between pairs of objects within an image. Prevailing SGG methods traditionally assume a one-off learning process for SGG. This conventional paradigm may necessitate…

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…

This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…

The significant progress on Generative Adversarial Networks (GANs) has facilitated realistic single-object image generation based on language input. However, complex-scene generation (with various interactions among multiple objects) still…

Being able to understand visual scenes is a precursor for many downstream tasks, including autonomous driving, robotics, and other vision-based approaches. A common approach enabling the ability to reason over visual data is Scene Graph…

Autonomous navigation in dynamic environments requires spatial representations that capture both semantic structure and temporal evolution. 3D Scene Graphs (3DSGs) provide hierarchical multi-resolution abstractions that encode geometry and…

3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…