相关论文: SegVGGT: Joint 3D Reconstruction and Instance Segm…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

In this paper, we address the problem of reconstructing an object's surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is…

This paper presents 6D-ViT, a transformer-based instance representation learning network, which is suitable for highly accurate category-level object pose estimation on RGB-D images. Specifically, a novel two-stream encoder-decoder…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Fine-Grained Image Classification (FGIC) remains a complex task in computer vision, as it requires models to distinguish between categories with subtle localized visual differences. Well-studied CNN-based models, while strong in local…

Robots operating in human-centered environments, such as retail stores, restaurants, and households, are often required to distinguish between similar objects in different contexts with a high degree of accuracy. However, fine-grained…

Recent feed-forward reconstruction models, such as VGGT, have proven competitive with traditional optimization-based reconstructors while also providing geometry-aware features useful for other tasks. Here, we show that the quality of these…

We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline.…

Segmentation of organs of interest in medical CT images is beneficial for diagnosis of diseases. Though recent methods based on Fully Convolutional Neural Networks (F-CNNs) have shown success in many segmentation tasks, fusing features from…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

3D referring segmentation is an emerging and challenging vision-language task that aims to segment the object described by a natural language expression in a point cloud scene. The key challenge behind this task is vision-language feature…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Most modern deep learning-based multi-view 3D reconstruction techniques use RNNs or fusion modules to combine information from multiple images after independently encoding them. These two separate steps have loose connections and do not…

Image segmentation is a fundamental task in computer vision, aimed at partitioning an image into semantically meaningful regions. Referring image segmentation extends this task by using natural language expressions to localize specific…

Object recognition from live video streams comes with numerous challenges such as the variation in illumination conditions and poses. Convolutional neural networks (CNNs) have been widely used to perform intelligent visual object…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

We propose a novel approach for automatic extraction (instance segmentation) of fibers from low resolution 3D X-ray computed tomography scans of short glass fiber reinforced polymers. We have designed a 3D instance segmentation architecture…

Vision Transformer (ViT) has prevailed in computer vision tasks due to its strong long-range dependency modelling ability. \textcolor{blue}{However, its large model size and weak local feature modeling ability hinder its application in real…