相关论文: Retrieving Objects from 3D Scenes with Box-Guided …

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

We study the hard problem of 3D object segmentation in complex point clouds without requiring human labels of 3D scenes for supervision. By relying on the similarity of pretrained 2D features or external signals such as motion to group 3D…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Recent advent of vision-based foundation models has enabled efficient and high-quality object detection at ease. Despite the success of previous studies, object detection models face limitations on capturing small components from holistic…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

Progress on object detection is enabled by datasets that focus the research community's attention on open challenges. This process led us from simple images to complex scenes and from bounding boxes to segmentation masks. In this work, we…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

Although instance segmentation has made considerable advancement over recent years, it's still a challenge to design high accuracy algorithms with real-time performance. In this paper, we propose a real-time instance segmentation framework…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

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…

Video Instance Segmentation (VIS) aims at segmenting and categorizing objects in videos from a closed set of training categories, lacking the generalization ability to handle novel categories in real-world videos. To address this…

In this work, we present a novel and effective framework to facilitate object detection with the instance-level segmentation information that is only supervised by bounding box annotation. Starting from the joint object detection and…

Semantic segmentation of 3D point cloud scenes is a crucial task for various applications. In real-world scenarios, training segmentation models often faces three concurrent forms of data insufficiency: scarcity of training scenes, scarcity…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Video Instance Segmentation is a fundamental computer vision task that deals with segmenting and tracking object instances across a video sequence. Most existing methods typically accomplish this task by employing a multi-stage top-down…