相关论文: Towards Foundation Models for 3D Scene Understandi…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

Defining and reliably finding a canonical orientation for 3D surfaces is key to many Computer Vision and Robotics applications. This task is commonly addressed by handcrafted algorithms exploiting geometric cues deemed as distinctive and…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

3D Gaussian Splatting (3DGS) is a powerful alternative to Neural Radiance Fields (NeRF), excelling in complex scene reconstruction and efficient rendering. However, it relies on high-quality point clouds from Structure-from-Motion (SfM),…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene…

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Indoor scene modification has emerged as a prominent area within computer vision, particularly for its applications in Augmented Reality (AR) and Virtual Reality (VR). Traditional methods often rely on pre-existing object databases and…

3D scene understanding is crucial for facilitating seamless interaction between digital devices and the physical world. Real-time capturing and processing of the 3D scene are essential for achieving this seamless integration. While existing…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide model learning. This setting presents two primary challenges:…

Large and rich data is a prerequisite for effective training of deep neural networks. However, the irregularity of point cloud data makes manual annotation time-consuming and laborious. Self-supervised representation learning, which…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…