8 papers
Argos: Adapt Rich Geometric Priors for Generalizable Online Scene-Change-Detection
Ruihan Xu, Jiae Yoon, Kaichen Zhou +2
Robots operating in dynamic environments require reliable detection of how their surroundings change over time. Existing learning-based methods largely rely on pairwise 2D image fe…
C3-Bench: A Context-Aware Change Captioning Benchmark
Jae-Woo Kim, Hyeongbeom Kim, Ue-Hwan Kim
While Change Captioning systems have garnered substantial attention to respond to our evolving world, their true performance on diverse real-world change contexts remains largely u…
OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments
Yirum Kim, Ue-Hwan Kim
3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments. Although advances in foundation models have enabled open-vocabulary 3DSG generation, existi…
TERDNet: Transformer Encoder-Recurrent Decoder Network for Scene Change Detection
Jiae Yoon, Ue-Hwan Kim
In this work, we address the challenge of Scene Change Detection (SCD), where the goal is to identify variations between two images of the same location captured at different times…
VSCD: Video-based Scene Change Detection in Unaligned Scenes
Jiae Yoon, Ue-Hwan Kim
Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few chang…
Context-Nav: Context-Driven Exploration and Viewpoint-Aware 3D Spatial Reasoning for Instance Navigation
Won Shik Jang, Ue-Hwan Kim
Text-goal instance navigation (TGIN) asks an agent to resolve a single, free-form description into actions that reach the correct object instance among same-category distractors. W…
MA3DSG: Multi-Agent 3D Scene Graph Generation for Large-Scale Indoor Environments
Yirum Kim, Jaewoo Kim, Ue-Hwan Kim
Current 3D scene graph generation (3DSGG) approaches heavily rely on a single-agent assumption and small-scale environments, exhibiting limited scalability to real-world scenarios.…
Towards Generalizable Scene Change Detection
Jaewoo Kim, Uehwan Kim
While current state-of-the-art Scene Change Detection (SCD) approaches achieve impressive results in well-trained research data, they become unreliable under unseen environments an…