EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI

1 code implementation • 26 Dec 2023 • Tai Wang, Xiaohan Mao, Chenming Zhu, Runsen Xu, Ruiyuan Lyu, Peisen Li, Xiao Chen, Wenwei Zhang, Kai Chen, Tianfan Xue, Xihui Liu, Cewu Lu, Dahua Lin, Jiangmiao Pang

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions.

Scene Understanding

PointLLM: Empowering Large Language Models to Understand Point Clouds

3 code implementations • 31 Aug 2023 • Runsen Xu, Xiaolong Wang, Tai Wang, Yilun Chen, Jiangmiao Pang, Dahua Lin

The unprecedented advancements in Large Language Models (LLMs) have shown a profound impact on natural language processing but are yet to fully embrace the realm of 3D understanding.

3D Object Classification 3D Question Answering (3D-QA) +2

MV-JAR: Masked Voxel Jigsaw and Reconstruction for LiDAR-Based Self-Supervised Pre-Training

1 code implementation • CVPR 2023 • Runsen Xu, Tai Wang, Wenwei Zhang, Runjian Chen, Jinkun Cao, Jiangmiao Pang, Dahua Lin

This paper introduces the Masked Voxel Jigsaw and Reconstruction (MV-JAR) method for LiDAR-based self-supervised pre-training and a carefully designed data-efficient 3D object detection benchmark on the Waymo dataset.

3D Object Detection object-detection

CO^3: Cooperative Unsupervised 3D Representation Learning for Autonomous Driving

1 code implementation • 8 Jun 2022 • Runjian Chen, Yao Mu, Runsen Xu, Wenqi Shao, Chenhan Jiang, Hang Xu, Zhenguo Li, Ping Luo

In this paper, we propose CO^3, namely Cooperative Contrastive Learning and Contextual Shape Prediction, to learn 3D representation for outdoor-scene point clouds in an unsupervised manner.

Autonomous Driving Contrastive Learning +1

LIFE: Lighting Invariant Flow Estimation

no code implementations • 7 Apr 2021 • Zhaoyang Huang, Xiaokun Pan, Runsen Xu, Yan Xu, Ka Chun Cheung, Guofeng Zhang, Hongsheng Li

However, local image contents are inevitably ambiguous and error-prone during the cross-image feature matching process, which hinders downstream tasks.