相关论文: Canonical Space Representation for 4D Panoptic Seg…
We present a novel approach to category-level 6D object pose and size estimation. To tackle intra-class shape variations, we learn canonical shape space (CASS), a unified representation for a large variety of instances of a certain object…
To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…
Panoptic Segmentation aims to provide an understanding of background (stuff) and instances of objects (things) at a pixel level. It combines the separate tasks of semantic segmentation (pixel level classification) and instance segmentation…
Understanding dynamic 3D human representation has become increasingly critical in virtual and extended reality applications. However, existing human part segmentation methods are constrained by reliance on closed-set datasets and prolonged…
Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since they are typically trained on static datasets, these models…
3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…
Semantic segmentation is a fundamental task in computer vision that involves dense pixel-wise classification for scene understanding. Despite significant progress, achieving high accuracy while maintaining real-time performance remains a…
Understanding dynamic 4D scenes from an egocentric perspective-modeling changes in 3D spatial structure over time-is crucial for human-machine interaction, autonomous navigation, and embodied intelligence. While existing egocentric datasets…
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…
The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
Multi-modal medical image fusion is traditionally optimized for human visual perception, aiming to maximize generic contrast and structural fidelity. However, when these visually pleasing fused images are deployed in automated clinical…
Despite the recent success of machine learning algorithms, most models face drawbacks when considering more complex tasks requiring interaction between different sources, such as multimodal input data and logical time sequences. On the…
Understanding articulated objects from monocular video is a crucial yet challenging task in robotics and digital twin creation. Existing methods often rely on complex multi-view setups, high-fidelity object scans, or fragile long-term point…
Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…
Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective…
We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…
3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…
The latest emerged 4D Panoptic Scene Graph (4D-PSG) provides an advanced-ever representation for comprehensively modeling the dynamic 4D visual real world. Unfortunately, current pioneering 4D-PSG research can primarily suffer from data…