相关论文: GIBLy: Improving 3D Semantic Segmentation through …

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…

This paper is concerned with the problem of how to better exploit 3D geometric information for dense semantic image labeling. Existing methods often treat the available 3D geometry information (e.g., 3D depth-map) simply as an additional…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

Despite the success of convolutional neural networks for 3D medical-image segmentation, the architectures currently used are still not robust enough to the protocols of different scanners, and the variety of image properties they produce.…

Fine-grained image classification has emerged as a significant challenge because objects in such images have small inter-class visual differences but with large variations in pose, lighting, and viewpoints, etc. Most existing work focuses…

3D medical image segmentation is a challenging task with crucial implications for disease diagnosis and treatment planning. Recent advances in deep learning have significantly enhanced fully supervised medical image segmentation. However,…

Vision-Language Models (VLMs) still lack robustness in spatial intelligence, demonstrating poor performance on spatial understanding and reasoning tasks. We attribute this gap to the absence of a visual geometry learning process capable of…

Equivariance is a powerful prior for learning physical dynamics, yet exact group equivariance can degrade performance if the symmetries are broken. We propose object-centric world models built with geometric algebra neural networks,…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

This paper proposes Neural-MMGS, a novel neural 3DGS framework for multimodal large-scale scene reconstruction that fuses multiple sensing modalities in a per-gaussian compact, learnable embedding. While recent works focusing on large-scale…

Pre-trained 3D vision models have gained significant attention for their promising performance on point cloud data. However, fully fine-tuning these models for downstream tasks is computationally expensive and storage-intensive. Existing…

3D hierarchical semantic segmentation (3DHS) is crucial for embodied intelligence applications that demand a multi-grained and multi-hierarchy understanding of 3D scenes. Despite the progress, previous 3DHS methods have overlooked following…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

Deep metric learning (DML) is a cornerstone of many computer vision applications. It aims at learning a mapping from the input domain to an embedding space, where semantically similar objects are located nearby and dissimilar objects far…

Multi-modal Large Language Models (MLLMs) have advanced greatly in general tasks. However, they still face challenges in geometric reasoning, a task that requires synergistic integration of visual recognition proficiency and complex…

Accurate building segmentation from high-resolution RGB imagery remains challenging due to spectral similarity with non-building features, shadows, and irregular building geometries. In this study, we present a comprehensive deep learning…

Geometric deep learning extends deep learning to incorporate information about the geometry and topology data, especially in complex domains like graphs. Despite the popularity of message passing in this field, it has limitations such as…