10 papers
SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion
Rui Qian, Haozhi Cao, Tianchen Deng +2
Monocular 3D Semantic Scene Completion (SSC) is a challenging yet promising task that aims to infer dense geometric and semantic descriptions of a scene from a single image. While…
When Robots Should Say "I Don't Know": Benchmarking Abstention in Embodied Question Answering
Tao Wu, Chuhao Zhou, Guangyu Zhao +3
Embodied Question Answering (EQA) requires an agent to interpret language, perceive its environment, and navigate within 3D scenes to produce responses. Existing EQA benchmarks ass…
TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion
Rui Qian, Haozhi Cao, Tianchen Deng +4
Embodied 3D Semantic Scene Completion (SSC) infers dense geometry and semantics from continuous egocentric observations. Most existing Gaussian-based methods rely on random initial…
Gaussian Semantic Field for One-shot LiDAR Global Localization
Pengyu Yin, Shenghai Yuan, Haozhi Cao +4
We present a one-shot LiDAR global localization algorithm featuring semantic disambiguation ability based on a lightweight tri-layered scene graph. While landmark semantic registra…
Interactive Test-Time Adaptation with Reliable Spatial-Temporal Voxels for Multi-Modal Segmentation
Haozhi Cao, Yuecong Xu, Pengyu Yin +4
Multi-modal test-time adaptation (MM-TTA) adapts models to an unlabeled target domain by leveraging the complementary multi-modal inputs in an online manner. While previous MM-TTA…
Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information
Kuan Xu, Zeyu Jiang, Haozhi Cao +3
Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation.…