相关论文: Zoo3D: Zero-Shot 3D Object Detection at Scene Leve…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Open-vocabulary semantic segmentation enables models to recognize and segment objects from arbitrary natural language descriptions, offering the flexibility to handle novel, fine-grained, or functionally defined categories beyond fixed…

The development of advanced 3D sensors has enabled many objects to be captured in the wild at a large scale, and a 3D object recognition system may therefore encounter many objects for which the system has received no training. Zero-Shot…

The ability to understand and reason the 3D real world is a crucial milestone towards artificial general intelligence. The current common practice is to finetune Large Language Models (LLMs) with 3D data and texts to enable 3D…

Offboard perception aims to automatically generate high-quality 3D labels for autonomous driving (AD) scenes. Existing offboard methods focus on 3D object detection with closed-set taxonomy and fail to match human-level recognition…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…

The training of deep-learning-based 3D object detectors requires large datasets with 3D bounding box labels for supervision that have to be generated by hand-labeling. We propose a network architecture and training procedure for learning…

Despite the remarkable accuracy of deep neural networks in object detection, they are costly to train and scale due to supervision requirements. Particularly, learning more object categories typically requires proportionally more bounding…

Despite great progress in object detection, most existing methods work only on a limited set of object categories, due to the tremendous human effort needed for bounding-box annotations of training data. To alleviate the problem, recent…

Current Zero-Shot Learning (ZSL) approaches are restricted to recognition of a single dominant unseen object category in a test image. We hypothesize that this setting is ill-suited for real-world applications where unseen objects appear…

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for…

In this paper, we introduce a new task: Zero-Shot 3D Reasoning Segmentation for parts searching and localization for objects, which is a new paradigm to 3D segmentation that transcends limitations for previous category-specific 3D semantic…

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are…

We introduce and tackle the problem of zero-shot object detection (ZSD), which aims to detect object classes which are not observed during training. We work with a challenging set of object classes, not restricting ourselves to similar…

3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However,…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Scene understanding and reasoning has been a fundamental problem in 3D computer vision, requiring models to identify objects, their properties, and spatial or comparative relationships among the objects. Existing approaches enable this by…

Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…