相关论文: Articulated 3D Scene Graphs for Open-World Mobile …
Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…
Multimodal alignment is commonly learned from isolated image-text pairs via CLIP-style dual encoders, leaving the relational context among entities largely unused. Multimodal attributed graphs (MAGs), where nodes carry multimodal attributes…
Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e.g., objects, rooms,…
This position paper argues for the use of \emph{structured generative models} (SGMs) for the understanding of static scenes. This requires the reconstruction of a 3D scene from an input image (or a set of multi-view images), whereby the…
Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…
To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…
Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…
3D multimodal question answering (MQA) plays a crucial role in scene understanding by enabling intelligent agents to comprehend their surroundings in 3D environments. While existing research has primarily focused on indoor household tasks…
Dynamic scene rendering opens new avenues in autonomous driving by enabling closed-loop simulations with photorealistic data, which is crucial for validating end-to-end algorithms. However, the complex and highly dynamic nature of traffic…
Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…
Spatio-temporal scene graphs represent interactions in a video by decomposing scenes into individual objects and their pair-wise temporal relationships. Long-term anticipation of the fine-grained pair-wise relationships between objects is a…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…
Reconstructing urban scenes is challenging due to their complex geometries and the presence of potentially dynamic objects. 3D Gaussian Splatting (3DGS)-based methods have shown strong performance, but existing approaches often incorporate…
The increasing demand for augmented reality and robotics is driving the need for articulated object reconstruction with high scalability. However, existing settings for reconstructing from discrete articulation states or casual monocular…
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…
Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…
Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…
Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…