相关论文: Z3D: Zero-Shot 3D Visual Grounding from Images
In this paper, we propose a new open-source benchmarking framework for Visual Geo-localization (VG) that allows to build, train, and test a wide range of commonly used architectures, with the flexibility to change individual components of a…
In this paper, we address the challenging problem of 3D concept grounding (i.e. segmenting and learning visual concepts) by looking at RGBD images and reasoning about paired questions and answers. Existing visual reasoning approaches…
Recent advances in vision foundation models have revolutionized geometry reconstruction and semantic understanding. Yet, most of the existing approaches treat these capabilities in isolation, leading to redundant pipelines and compounded…
3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage paradigm, i.e., language-irrelevant detection and cross-modal…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…
Vision-language foundation models have shown remarkable performance in various zero-shot settings such as image retrieval, classification, or captioning. But so far, those models seem to fall behind when it comes to zero-shot localization…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…
This work presents a novel text-to-vector graphics generation approach, Dream3DVG, allowing for arbitrary viewpoint viewing, progressive detail optimization, and view-dependent occlusion awareness. Our approach is a dual-branch optimization…
Visual Grounding (VG) aims at localizing target objects from an image based on given expressions and has made significant progress with the development of detection and vision transformer. However, existing VG methods tend to generate…
Grounding object properties and relations in 3D scenes is a prerequisite for a wide range of artificial intelligence tasks, such as visually grounded dialogues and embodied manipulation. However, the variability of the 3D domain induces two…
Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…
3D plane reconstruction from a single image is a crucial yet challenging topic in 3D computer vision. Previous state-of-the-art (SOTA) methods have focused on training their system on a single dataset from either indoor or outdoor domain,…
Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…
We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…
Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view synthesis and thus is attractive for data generation.…
We present ZeroComp, an effective zero-shot 3D object compositing approach that does not require paired composite-scene images during training. Our method leverages ControlNet to condition from intrinsic images and combines it with a Stable…
3D visual grounding (VG) aims to locate objects or regions within 3D scenes guided by natural language descriptions. While indoor 3D VG has advanced, outdoor 3D VG remains underexplored due to two challenges: (1) large-scale outdoor LiDAR…
3D vector graphics play a crucial role in various applications including 3D shape retrieval, conceptual design, and virtual reality interactions due to their ability to capture essential structural information with minimal representation.…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…