相关论文: Pixel-level Scene Understanding in One Token: Visu…

We introduce a method for composing object-level visual prompts within a text-to-image diffusion model. Our approach addresses the task of generating semantically coherent compositions across diverse scenes and styles, similar to the…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

In image retrieval, deep local features learned in a data-driven manner have been demonstrated effective to improve retrieval performance. To realize efficient retrieval on large image database, some approaches quantize deep local features…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

Texts from scene images typically consist of several characters and exhibit a characteristic sequence structure. Existing methods capture the structure with the sequence-to-sequence models by an encoder to have the visual representations…

Visual (re)localization addresses the problem of estimating the 6-DoF (Degree of Freedom) camera pose of a query image captured in a known scene, which is a key building block of many computer vision and robotics applications. Recent…

Scene parsing is a technique that consist on giving a label to all pixels in an image according to the class they belong to. To ensure a good visual coherence and a high class accuracy, it is essential for a scene parser to capture image…

Our brains represent the ever-changing environment with neurons in a highly dynamic fashion. The temporal features of visual pixels in dynamic natural scenes are entrapped in the neuronal responses of the retina. It is crucial to establish…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

Learning dense visual representations without labels is an arduous task and more so from scene-centric data. We propose to tackle this challenging problem by proposing a Cross-view consistency objective with an Online Clustering mechanism…

Scene graph generation aims to produce structured representations for images, which requires to understand the relations between objects. Due to the continuous nature of deep neural networks, the prediction of scene graphs is divided into…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

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,…

We explore the power of spatial context as a self-supervisory signal for learning visual representations. In particular, we propose spatial context networks that learn to predict a representation of one image patch from another image patch,…

We propose Perceptual Taxonomy, a structured process of scene understanding that first recognizes objects and their spatial configurations, then infers task-relevant properties such as material, affordance, function, and physical attributes…

Object goal navigation aims to steer an agent towards a target object based on observations of the agent. It is of pivotal importance to design effective visual representations of the observed scene in determining navigation actions. In…

Humans can incrementally learn to do new visual detection tasks, which is a huge challenge for today's computer vision systems. Incrementally trained deep learning models lack backwards transfer to previously seen classes and suffer from a…

Existing Multimodal Large Language Models (MLLMs) suffer from increased inference costs due to the additional vision tokens introduced by image inputs. In this work, we propose Visual Consistency Learning (ViCO), a novel training algorithm…