相关论文: Unified Semantic Transformer for 3D Scene Understa…

Semantic understanding of scenes in three-dimensional space (3D) is a quintessential part of robotics oriented applications such as autonomous driving as it provides geometric cues such as size, orientation and true distance of separation…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

The ability for computational agents to reason about the high-level content of real world scene images is important for many applications. Existing attempts at addressing the problem of complex scene understanding lack representational…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

Video saliency prediction and detection are thriving research domains that enable computers to simulate the distribution of visual attention akin to how humans perceiving dynamic scenes. While many approaches have crafted task-specific…

We propose In-Context Translation (ICT), a general learning framework to unify visual recognition (e.g., semantic segmentation), low-level image processing (e.g., denoising), and conditional image generation (e.g., edge-to-image synthesis).…

3D scene generation has long been dominated by 2D multi-view or video diffusion models. This is due not only to the lack of scene-level 3D latent representation, but also to the fact that most scene-level 3D visual data exists in the form…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Promising performance has been achieved for visual perception on the point cloud. However, the current methods typically rely on labour-extensive annotations on the scene scans. In this paper, we explore how synthetic models alleviate the…

In this work, we present Uni3DL, a unified model for 3D and Language understanding. Distinct from existing unified vision-language models in 3D which are limited in task variety and predominantly dependent on projected multi-view images,…

The requirement of large amounts of annotated images has become one grand challenge while training deep neural network models for various visual detection and recognition tasks. This paper presents a novel image synthesis technique that…