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arXiv 2502.10675cs.CV
利用预训练大语言模型进行层次结构化的开放词汇室内场景合成
Hierarchically-Structured Open-Vocabulary Indoor Scene Synthesis with Pre-trained Large Language Model
School of Software, Shandong University(山东大学软件学院);School of Computer Science, National University of Defense Technology(国防科技大学计算机学院);Shandong Research Institute of Industrial Technology(山东省产业技术研究院)
Weilin Sun, Xinran Li, Manyi Li, Kai Xu, Xiangxu Meng, Lei Meng
Indoor scene synthesis aims to automatically produce plausible, realistic and diverse 3D indoor scenes, especially given arbitrary user requirements. Recently, the promising generalization ability of pre-trained large language models (LLM) assist in open-vocabulary indoor scene synthesis. However, the challenge lies in converting the LLM-generated outputs into reasonable and physically feasible scene layouts. In this paper, we propose to generate hierarchically structured scene descriptions with LLM and then compute the scene layouts. Specifically, we train a hierarchy-aware network to infer the fine-grained relative positions between objects and design a divide-and-conquer optimization to solve for scene layouts. The advantages of using hierarchically structured scene representation are two-fold. First, the hierarchical structure provides a rough grounding for object arrangement, which alleviates contradictory placements with dense relations and enhances the generalization ability of the network to infer fine-grained placements. Second, it naturally supports the divide-and-conquer optimization, by first arranging the sub-scenes and then the entire scene, to more effectively solve for a feasible layout. We conduct extensive comparison experiments and ablation studies with both qualitative and quantitative evaluations to validate the effectiveness of our key designs with the hierarchically structured scene representation. Our approach can generate more reasonable scene layouts while better aligned with the user requirements and LLM descriptions. We also present open-vocabulary scene synthesis and interactive scene design results to show the strength of our approach in the applications.
OpenM3D: Open Vocabulary Multi-view Indoor 3D Object Detection without Human Annotations
National Tsing Hua University(国立清华大学);Amazon(亚马逊);Cornell University(康奈尔大学);Carnegie Mellon University(卡内基梅隆大学);National Yang Ming Chiao Tung University(国立阳明交通大学)
MonoSR: Open-Vocabulary Spatial Reasoning from Monocular Images
Technical University of Munich(慕尼黑工业大学);A*STAR Institute of Advanced Intelligence and Computing(新加坡科技研究局高级智能与计算研究所);Singapore University of Technology and Design(新加坡科技设计大学);Nanyang Technological University(南洋理工大学)
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
Tsinghua University(清华大学);ETH Zürich(苏黎世联邦理工学院);MPI for Informatics(信息研究所);Dalian University of Technology(大连理工大学);Microsoft(微软);Stanford University(斯坦福大学);University of Lugano(卢加诺大学)
Open Vocabulary 3D Scene Understanding via Geometry Guided Self-Distillation
The Hong Kong Polytechnic University(香港理工大学);Centre for Artificial Intelligence and Robotics, HKISI, CAS(中国科学院香港智能研究院人工智能与机器人中心);State Key Laboratory of Multimodal Artificial Intelligence Systems, CASIA(中国科学院自动化研究所多模态人工智能系统国家重点实验室);School of Artificial Intelligence, University of Chinese Academy of Sciences (UCAS)(中国科学院大学人工智能学院)
OpenIns3D: Snap and Lookup for 3D Open-vocabulary Instance Segmentation
University of Cambridge(剑桥大学);The University of Hong Kong(香港大学);Hong Kong University of Science and Technology(香港科技大学);The Hong Kong University of Science and Technology (Guangzhou)(香港科技大学(广州))
Technical University of Munich(慕尼黑工业大学);NVIDIA(英伟达)
Recent advances in 3D semantic segmentation with deep neural networks have shown remarkable success, with rapid performance increase on available datasets. However, current 3D semantic segmentation benchmarks contain only a small number of categories -- less than 30 for ScanNet and SemanticKITTI, for instance, which are not enough to reflect the diversity of real environments (e.g., semantic image understanding covers hundreds to thousands of classes). Thus, we propose to study a larger vocabulary for 3D semantic segmentation with a new extended benchmark on ScanNet data with 200 class categor…
Depth-Only Open-Vocabulary 3D Semantic Segmentation For Privacy-Preserving Robotic Applications
Humanoid Robots Lab, University of Bonn(波恩大学仿人机器人实验室);Lamarr Institute for Machine Learning and Artificial Intelligence(拉马尔机器学习和人工智能研究所);Center for Robotics, Bonn, Germany(波恩机器人中心)
LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigation
AIML, Adelaide University(AIML,阿德莱德大学);East China Normal University(华东师范大学);NERC-RVC, Hunan University(NERC-RVC,湖南大学);The University of Western Australia(西澳大学);Breaker Industries
3D Feature Distillation with Object-Centric Priors
Department of Artificial Intelligence University of Groningen, the Neteherlands(格罗宁根大学人工智能系);School of Informatics University of Edinburgh, United Kingdom(爱丁堡大学信息学院);Department of Computer Science University College London, United Kingdom(伦敦大学学院计算机科学系)