相关论文: ReScene4D: Temporally Consistent Semantic Instance…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

We introduce the first approach to solve the challenging problem of unsupervised 4D visual scene understanding for complex dynamic scenes with multiple interacting people from multi-view video. Our approach simultaneously estimates a…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Existing techniques for dynamic scene reconstruction from multiple wide-baseline cameras primarily focus on reconstruction in controlled environments, with fixed calibrated cameras and strong prior constraints. This paper introduces a…

Instance-level change detection in 3D scenes presents significant challenges, particularly in uncontrolled environments lacking labeled image pairs, consistent camera poses, or uniform lighting conditions. This paper addresses these…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

This paper presents an approach for reconstruction of 4D temporally coherent models of complex dynamic scenes. No prior knowledge is required of scene structure or camera calibration allowing reconstruction from multiple moving cameras.…

Recent advancements in foundation models for 2D vision have substantially improved the analysis of dynamic scenes from monocular videos. However, despite their strong generalization capabilities, these models often lack 3D consistency, a…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

High-quality 4D reconstruction enables photorealistic and immersive rendering of the dynamic real world. However, unlike static scenes that can be fully captured with a single camera, high-quality dynamic scenes typically require dense…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

Scene synthesis and editing has emerged as a promising direction in computer graphics. Current trained approaches for 3D indoor scene generation either oversimplify object semantics through one-hot class encodings (e.g., 'chair' or…

The synthesis of spatiotemporally coherent 4D content presents fundamental challenges in computer vision, requiring simultaneous modeling of high-fidelity spatial representations and physically plausible temporal dynamics. Current…

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…