Papers Scene Understanding
“Scene Understanding” 태그가 달린 논문 2,468편 · 필터 해제
Latent-Foresight: End-to-End Learning Predictable Representations for Latent World Models
Predicting the future evolution of a scene is a fundamental capability for world modeling. Recent work has shown that operating in the feature space of Vision Foundation Models (VFMs) yields semantically rich representat…
Dimensionality ReductionRepresentation LearningScene UnderstandingGenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Picking
Category-level object pose estimation (COPE), capable of generalizing to intra-class unknown objects, has become a core technique for robotic 3D scene understanding. However, existing COPE methods still require labor-int…
Domain GeneralizationScene UnderstandingPose EstimationTowards Reliable Vision-Language Models for Autonomous Driving
Vision-Language models (VLMs) are increasingly being explored in autonomous driving for tasks such as scene understanding, driving reasoning, decision-making, and end-to-end driving. As their role becomes more prominent,…
Scene UnderstandingAutonomous DrivingDriveMCP: An Agentic AI framework for Advanced Driver Assistance System
An agentic AI driver-assistance framework that integrates perception, compliance reasoning, vehicle-state interpretation, and safety arbitration into a modular and auditable pipeline. The architecture, referred to as Dri…
Visual Question AnsweringScene UnderstandingNeuroSymbEAD: A Large Scale Neuro-Symbolic Caption Dataset for Omni-Directional Embodied Autonomous Driving
This paper introduces NeuroSymbEAD, a large-scale neuro-symbolic caption dataset featuring an ego-centric knowledge graph (KG) of static and dynamic objects annotated with classes, categories, heading directions, orienta…
Scene Understanding3D Object DetectionAutonomous DrivingTEDi: Temporal Memory-Enhanced and Denoising Transformer for Surgical Instrument Segmentation
Query-based segmentation methods have shown promising potential for surgical instrument segmentation and recognition, which is essential for scene understanding and downstream tasks in computer assisted surgery. However,…
Scene UnderstandingMotion-Saliency Complementary Masked Modeling for Point Cloud Video Understanding
Point cloud video representation learning is crucial for 3D dynamic scene understanding. In this paper, we propose MoSaiC, a novel Motion-Saliency Complementary masked modeling framework for self-supervised point cloud v…
Representation LearningSemantic SegmentationScene UnderstandingAction SegmentationQwen-Drive-1.0: An Initial Step towards a Vision-Language Foundation Model for Autonomous Driving
We present Qwen-Drive-1.0, an initial step towards a vision-language foundation model for autonomous driving. Qwen-Drive-1.0 retains the architecture of the pretrained vision-language model (VLM) and integrates 3D percep…
Visual Question AnsweringScene Understanding3D Object DetectionAutonomous DrivingGAAT: Geometry-Aware Alignment Transformer for Multimodal UAV Perception
Unmanned aerial vehicle (UAV) multimodal perception integrates visible (RGB), infrared (IR), synthetic aperture radar (SAR), and depth sensors for scene understanding under diverse conditions. However, differences in opt…
Contrastive LearningScene UnderstandinguScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception
Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looking (2D) acoustic sensors remain effectiv…
Representation LearningScene UnderstandingObject DetectionPoint CloudsEmbodied Scene Rearrangement Planning
This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using only egocentric observations and a top-…
Scene UnderstandingMotion PlanningGlass Surface Detection Grounded in 3D Visual Geometry
Glass surface detection (GSD) is critical for scene understanding and reconstruction, and yet remains challenging due to the transparency and reflectivity of glass surfaces. Existing GSD methods typically rely on 2D appe…
Scene UnderstandingBootstrapping a 4D LiDAR Annotation Tool from Video Foundation Models
Progress in 4D LiDAR segmentation is bottlenecked by data. Assigning temporally consistent labels across sparse point cloud sequences is costly and hard to scale, and every new task or domain tends to demand fresh dense …
Scene UnderstandingVideo SegmentationBenthicFlow: Generating Extensible Underwater Environments via Flow Matching
Computer vision applications for 3D scene understanding in underwater environments remain challenging due to the lack of high-quality 3D data and the inability of surface-trained models to generalize to underwater scenes…
Scene UnderstandingStream3Dv2: Geometric-Semantic Fusion Enhanced Streaming Zero-Shot 3D Scene Understanding
Recently, open-vocabulary zero-shot 3D scene understanding using vision foundation models has emerged as a promising alternative to data-intensive supervised methods. However, deploying these models in real-world scenari…
Scene UnderstandingA2DINOv3: Rethinking Multi-Modal Object Detection via Socialized Collaboration
Multi-modal object detection is essential for robust scene understanding in challenging conditions, including low-light and adverse environments. Recent vision foundation models (e.g., DINOv3) have exhibited strong repre…
Representation LearningScene UnderstandingAutonomous DrivingObject DetectionLT-Mem: Volatility-Aware Spatio-Temporal Memory for Lifelong Scene Understanding
Long-term robot operation in evolving environments requires object-level understanding that persists across repeated revisits. Existing systems either overwrite history to maintain an up-to-date map or store semantic sna…
Scene UnderstandingUSR-Drive: Unified Driving Scene Representation via Joint Denoising of 3D Gaussians and Boxes
Spatial representation learning for autonomous driving aims to map raw visual signals into structured 3D scene representations, where object-centric bounding boxes and rendering-oriented 3D primitives (\eg, 3D Gaussians)…
Representation LearningDynamic ReconstructionScene UnderstandingAutonomous DrivingForeSightGuide: An Anticipatory Framework toward Accurate and Low-Redundancy Guidance for the Visually Impaired
Electronic travel aids are pivotal for the independent mobility of the visually impaired. While Vision-Language Models (VLMs) offer rich environmental understanding, they often suffer from excessive false positives in dy…
Scene UnderstandingSterilizable Scene Graph Generation for Operating Rooms
Scene graph generation from surgical video enables a holistic and structured understanding of surgical scenes by modeling objects and their semantic relationships. Despite recent advances, state-of-the-art approaches rel…
Scene Graph GenerationScene UnderstandingObject DetectionVideo Captioning