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

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

Inferring the 3D geometry and the semantic meaning of surfaces, which are occluded, is a very challenging task. Recently, a first end-to-end learning approach has been proposed that completes a scene from a single depth image. The approach…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

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…

Scaling up representations for images or text has been extensively investigated in the past few years and has led to revolutions in learning vision and language. However, scalable representation for 3D objects and scenes is relatively…

Understanding 3D object structure from a single image is an important but difficult task in computer vision, mostly due to the lack of 3D object annotations in real images. Previous work tackles this problem by either solving an…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from…

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D…

Modeling semantic information is helpful for scene text recognition. In this work, we propose to model semantic and visual information jointly with a Visual-Semantic Transformer (VST). The VST first explicitly extracts primary semantic…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

In this paper, we introduce the HexPlane representation for 3D semantic scene understanding. Specifically, we first design the View Projection Module (VPM) to project the 3D point cloud into six planes to maximally retain the original…

Point scene understanding is a challenging task to process real-world scene point cloud, which aims at segmenting each object, estimating its pose, and reconstructing its mesh simultaneously. Recent state-of-the-art method first segments…

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…

Recent advances in 3D vision-language models (VLMs) highlight a strong potential for 3D scene understanding and reasoning. However, effectively tokenizing 3D scenes into holistic scene tokens, and leveraging these tokens across diverse 3D…

Recently, a growing interest has been seen in deep learning-based semantic segmentation. UNet, which is one of deep learning networks with an encoder-decoder architecture, is widely used in medical image segmentation. Combining multi-scale…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…