5 papers
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
Ermanno Bartoli, Buwei He, Dennis Rotondi +6
Robots operating in human environments need memories that capture not only what objects exist and where, but also how people use them over time and how individual interactions comp…
3D Scene Graphs: Open Challenges and Future Directions
Dennis Rotondi, Francesco Argenziano, Sebastian Koch +10
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Thei…
Unified Semantic Transformer for 3D Scene Understanding
Sebastian Koch, Johanna Wald, Hidenobu Matsuki +3
Holistic 3D scene understanding involves capturing and parsing unstructured 3D environments. Due to the inherent complexity of the real world, existing models have predominantly be…
OpenHype: Hyperbolic Embeddings for Hierarchical Open-Vocabulary Radiance Fields
Lisa Weijler, Sebastian Koch, Fabio Poiesi +2
Modeling the inherent hierarchical structure of 3D objects and 3D scenes is highly desirable, as it enables a more holistic understanding of environments for autonomous agents. Acc…
RelationField: Relate Anything in Radiance Fields
Sebastian Koch, Johanna Wald, Mirco Colosi +4
Neural radiance fields are an emerging 3D scene representation and recently even been extended to learn features for scene understanding by distilling open-vocabulary features from…