相关论文: POMA-3D: The Point Map Way to 3D Scene Understandi…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

Applying pre-trained models to assist point cloud understanding has recently become a mainstream paradigm in 3D perception. However, existing application strategies are straightforward, utilizing only the final output of the pre-trained…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…

Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Effectively representing 3D scenes for Multimodal Large Language Models (MLLMs) is crucial yet challenging. Existing approaches commonly only rely on 2D image features and use varied tokenization approaches. This work presents a rigorous…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

We present LOCATE 3D, a model for localizing objects in 3D scenes from referring expressions like "the small coffee table between the sofa and the lamp." LOCATE 3D sets a new state-of-the-art on standard referential grounding benchmarks and…

Pretraining 3D encoders by aligning with Contrastive Language Image Pretraining (CLIP) has emerged as a promising direction to learn generalizable representations for 3D scene understanding. In this paper, we propose UniScene3D, a…

3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…

Recent advances in Large Multimodal Models (LMM) have made it possible for various applications in human-machine interactions. However, developing LMMs that can comprehend, reason, and plan in complex and diverse 3D environments remains a…

Image-to-point cross-modal learning has emerged to address the scarcity of large-scale 3D datasets in 3D representation learning. However, current methods that leverage 2D data often result in large, slow-to-train models, making them…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

In perception, multiple sensory information is integrated to map visual information from 2D views onto 3D objects, which is beneficial for understanding in 3D environments. But in terms of a single 2D view rendered from different angles,…

Powerful 3D representations such as DUSt3R invariant point maps, which encode 3D shape and camera parameters, have significantly advanced feed forward 3D reconstruction. While point maps assume static scenes, Dynamic Point Maps (DPMs)…