相关论文: VLM-Loc: Localization in Point Cloud Maps via Visi…

While text-to-image (T2I) generation models have achieved remarkable progress in recent years, existing evaluation methodologies for vision-language alignment still struggle with the fine-grained semantic matching. Current approaches based…

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this…

Vision-Language Models (VLMs) have shown promising capabilities in handling various multimodal tasks, yet they struggle in long-context scenarios, particularly in tasks involving videos, high-resolution images, or lengthy image-text…

Cross-view geo-localization identifies the locations of street-view images by matching them with geo-tagged satellite images or OSM. However, most existing studies focus on image-to-image retrieval, with fewer addressing text-guided…

Cross-modal localization using text and point clouds enables robots to localize themselves via natural language descriptions, with applications in autonomous navigation and interaction between humans and robots. In this task, objects often…

Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…

Vision-Language Models (VLMs) have demonstrated strong capability in a wide range of tasks such as visual recognition, document parsing, and visual grounding. Nevertheless, recent work shows that while VLMs often manage to capture the…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Recent advances in point cloud perception have demonstrated remarkable progress in scene understanding through vision-language alignment leveraging large language models (LLMs). However, existing methods may still encounter challenges in…

Geo-localization from a single image at planet scale (essentially an advanced or extreme version of the kidnapped robot problem) is a fundamental and challenging task in applications such as navigation, autonomous driving and disaster…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

Social media's global reach amplifies the spread of information, highlighting the need for robust Natural Language Processing tasks like stance detection across languages and modalities. Prior research predominantly focuses on text-only…

Large vision-and-language models (VLMs) trained to match images with text on large-scale datasets of image-text pairs have shown impressive generalization ability on several vision and language tasks. Several recent works, however, showed…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

Vision-Language Pre-Training (VLP) has shown promising capabilities to align image and text pairs, facilitating a broad variety of cross-modal learning tasks. However, we observe that VLP models often lack the visual grounding/localization…

We present a technique for visualizing point clouds using a neural network. Our technique allows for an instant preview of any point cloud, and bypasses the notoriously difficult surface reconstruction problem or the need to estimate…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Vision-Language Models (VLMs) have demonstrated impressive world knowledge across a wide range of tasks, making them promising candidates for embodied reasoning applications. However, existing benchmarks primarily evaluate the embodied…