相关论文: Semantic Enrichment of CAD-Based Industrial Enviro…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

We introduce the task of predicting functional 3D scene graphs for real-world indoor environments from posed RGB-D images. Unlike traditional 3D scene graphs that focus on spatial relationships of objects, functional 3D scene graphs capture…

In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Procedural generation techniques in 3D rendering engines have revolutionized the creation of complex environments, reducing reliance on manual design. Recent approaches using Large Language Models (LLMs) for 3D scene generation show promise…

Understanding 3D scenes in open-world settings poses fundamental challenges for vision and robotics, particularly due to the limitations of closed-vocabulary supervision and static annotations. To address this, we propose a unified…

Despite recent advances in multimodal content generation enabled by vision-language models (VLMs), their ability to reason about and generate structured 3D scenes remains largely underexplored. This limitation constrains their utility in…

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…

This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments. Such extension is challenging; the hierarchy of concepts that describe an outdoor environment is more complex than for indoors, and…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Semantic querying in complex 3D scenes through free-form language presents a significant challenge. Existing 3D scene understanding methods use large-scale training data and CLIP to align text queries with 3D semantic features. However,…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…