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

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where RGB-D images or camera poses are not readily available. To…

Vision Language Models (VLMs) mix visual tokens and text tokens. A puzzling issue is the fact that visual tokens most related to the query receive little to no attention in the final layers of the LLM module of VLMs from the answer tokens,…

Vision-Language Models (VLMs) excel at high-level scene understanding but falter on fine-grained perception tasks requiring precise localization. This failure stems from a fundamental mismatch, as generating exact numerical coordinates is a…

This paper proposes a voxel-based approach for creating a digital twin of an urban environment that is capable of efficiently managing smart spaces. The paper explains the registration and localization procedure of the point cloud dataset,…

Recent breakthroughs in Visual Language Models (VLMs) and Multimodal Large Language Models (MLLMs) have significantly advanced 3D scene perception towards language-driven cognition. However, existing 3D language models struggle with sparse,…

Large vision-language models (VLMs) still struggle with reliable 3D spatial reasoning, a core capability for embodied and physical AI systems. This limitation arises from their inability to capture fine-grained 3D geometry and spatial…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…

3D visual grounding (3DVG) identifies objects in 3D scenes from language descriptions. Existing zero-shot approaches leverage 2D vision-language models (VLMs) by converting 3D spatial information (SI) into forms amenable to VLM processing,…

Vision Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interactions. Current benchmarks test high level relationships ('left…

Multimodal intelligence development recently show strong progress in visual understanding and high level reasoning. Though, most reasoning system still reply on textual information as the main medium for inference. This limit their…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two…

Vision-language models (VLMs) are emerging as powerful generalist tools for remote sensing, capable of integrating information across diverse tasks and enabling flexible, instruction-based interactions via a chat interface. In this work, we…

Talk2BEV is a large vision-language model (LVLM) interface for bird's-eye view (BEV) maps in autonomous driving contexts. While existing perception systems for autonomous driving scenarios have largely focused on a pre-defined (closed) set…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Recent advances have demonstrated that Language Vision Models (LVMs) surpass the existing State-of-the-Art (SOTA) in two-dimensional (2D) computer vision tasks, motivating attempts to apply LVMs to three-dimensional (3D) data. While LVMs…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…