相关论文: FoundObj: Self-supervised Foundation Models as Rew…

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…

Recent success of vision foundation models have shown promising performance for the 2D perception tasks. However, it is difficult to train a 3D foundation network directly due to the limited dataset and it remains under explored whether…

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

We address the problem of discovering part segmentations of articulated objects without supervision. In contrast to keypoints, part segmentations provide information about part localizations on the level of individual pixels. Capturing both…

A fully automated object reconstruction pipeline is crucial for digital content creation. While the area of 3D reconstruction has witnessed profound developments, the removal of background to obtain a clean object model still relies on…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

In the fast-evolving field of artificial intelligence, where models are increasingly growing in complexity and size, the availability of labeled data for training deep learning models has become a significant challenge. Addressing complex…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…