相关论文: 3D Segmentation Using Viewpoint-Dependent Spatial …

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Understanding 3D scenes from multi-view inputs has been proven to alleviate the view discrepancy issue in 3D visual grounding. However, existing methods normally neglect the view cues embedded in the text modality and fail to weigh the…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Zero-shot referring image segmentation aims to locate and segment the target region based on a referring expression, with the primary challenge of aligning and matching semantics across visual and textual modalities without training.…

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…

Open-vocabulary 3D segmentation enables exploration of 3D spaces using free-form text descriptions. Existing methods for open-vocabulary 3D instance segmentation primarily focus on identifying object-level instances but struggle 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…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…

Understanding the interplay between intra-modality dependencies (the contribution of an individual modality to a target task) and inter-modality dependencies (the relationships between modalities and the target task) is fundamental to…

For the problem of 3D object recognition, researchers using deep learning methods have developed several very different input representations, including "multi-view" snapshots taken from discrete viewpoints around an object, as well as…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

Recent advancements in 3D perception systems have significantly improved their ability to perform visual recognition tasks such as segmentation. However, these systems still heavily rely on explicit human instruction to identify target…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…

Despite encouraging progress in 3D scene understanding, it remains challenging to develop an effective Large Multi-modal Model (LMM) that is capable of understanding and reasoning in complex 3D environments. Most previous methods typically…

The recent development in multimodal learning has greatly advanced the research in 3D scene understanding in various real-world tasks such as embodied AI. However, most existing studies are facing two common challenges: 1) they are short of…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…