相关论文: TrianguLang: Geometry-Aware Semantic Consensus for…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation…

We present a joint 3D pose and focal length estimation approach for object categories in the wild. In contrast to previous methods that predict 3D poses independently of the focal length or assume a constant focal length, we explicitly…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Zero-shot 3D anomaly detection aims to identify anomalies without access to training data from target categories. However, existing methods mainly rely on projecting 3D observations into multi-view representations that primarily capture…

Computer vision and robotics applications ranging from augmented reality to robot autonomy in large-scale environments require spatio-temporal memory frameworks that capture both geometric structure for accurate language-grounding as well…

3D-aware GANs aim to synthesize realistic 3D scenes such that they can be rendered in arbitrary perspectives to produce images. Although previous methods produce realistic images, they suffer from unstable training or degenerate solutions…

We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…

Multi-object 3D Grounding involves locating 3D boxes based on a given query phrase from a point cloud. It is a challenging and significant task with numerous applications in visual understanding, human-computer interaction, and robotics. To…

Recent advances in interactive 3D segmentation from 2D images have demonstrated impressive performance. However, current models typically require extensive scene-specific training to accurately reconstruct and segment objects, which limits…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

Text-based Visual Question Answering~(TextVQA) aims to produce correct answers for given questions about the images with multiple scene texts. In most cases, the texts naturally attach to the surface of the objects. Therefore, spatial…

3D semantic occupancy prediction is essential for achieving safe, reliable autonomous driving and robotic navigation. Compared to camera-only perception systems, multi-modal pipelines, especially LiDAR-camera fusion methods, can produce…

Recently, multi-view diffusion-based 3D generation methods have gained significant attention. However, these methods often suffer from shape and texture misalignment across generated multi-view images, leading to low-quality 3D generation…

A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate semantics while avoiding the significant memory and storage…

We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…

Sparse-view 3D reconstruction is increasingly addressed with feed-forward splatting networks that predict explicit primitives directly from images. Yet most existing methods remain centered on Gaussian primitives and expose surfaces only…

Zero-Shot Learning (ZSL) is achieved via aligning the semantic relationships between the global image feature vector and the corresponding class semantic descriptions. However, using the global features to represent fine-grained images may…

This paper tackles the problem of generalizable 3D-aware generation from monocular datasets, e.g., ImageNet. The key challenge of this task is learning a robust 3D-aware representation without multi-view or dynamic data, while ensuring…