5 papers
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…
OVI-MAP:Open-Vocabulary Instance-Semantic Mapping
Zilong Deng, Federico Tombari, Marc Pollefeys +2
Incremental open-vocabulary 3D instance-semantic mapping is essential for autonomous agents operating in complex everyday environments. However, it remains challenging due to the n…
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…
Search3D: Hierarchical Open-Vocabulary 3D Segmentation
Ayca Takmaz, Alexandros Delitzas, Robert W. Sumner +3
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…