OpenNeRF: Open Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Views

Large visual-language models (VLMs), like CLIP, enable open-set image segmentation to segment arbitrary concepts from an image in a zero-shot manner. This goes beyond the traditional closed-set assumption, i.e., where models can only segment classes from a pre-defined training set. More recently, first works on open-set segmentation in 3D scenes have appeared in the literature. These methods are heavily influenced by closed-set 3D convolutional approaches that process point clouds or polygon meshes. However, these 3D scene representations do not align well with the image-based nature of the visual-language models. Indeed, point cloud and 3D meshes typically have a lower resolution than images and the reconstructed 3D scene geometry might not project well to the underlying 2D image sequences used to compute pixel-aligned CLIP features. To address these challenges, we propose OpenNeRF which naturally operates on posed images and directly encodes the VLM features within the NeRF. This is similar in spirit to LERF, however our work shows that using pixel-wise VLM features (instead of global CLIP features) results in an overall less complex architecture without the need for additional DINO regularization. Our OpenNeRF further leverages NeRF's ability to render novel views and extract open-set VLM features from areas that are not well observed in the initial posed images. For 3D point cloud segmentation on the Replica dataset, OpenNeRF outperforms recent open-vocabulary methods such as LERF and OpenScene by at least +4.9 mIoU.

RadSplat: Radiance Field-Informed Gaussian Splatting for Robust Real-Time Rendering with 900+ FPS

Recent advances in view synthesis and real-time rendering have achieved photorealistic quality at impressive rendering speeds. While Radiance Field-based methods achieve state-of-the-art quality in challenging scenarios such as in-the-wild captures and large-scale scenes, they often suffer from excessively high compute requirements linked to volumetric rendering. Gaussian Splatting-based methods, on the other hand, rely on rasterization and naturally achieve real-time rendering but suffer from brittle optimization heuristics that underperform on more challenging scenes. In this work, we present RadSplat, a lightweight method for robust real-time rendering of complex scenes. Our main contributions are threefold. First, we use radiance fields as a prior and supervision signal for optimizing point-based scene representations, leading to improved quality and more robust optimization. Next, we develop a novel pruning technique reducing the overall point count while maintaining high quality, leading to smaller and more compact scene representations with faster inference speeds. Finally, we propose a novel test-time filtering approach that further accelerates rendering and allows to scale to larger, house-sized scenes. We find that our method enables state-of-the-art synthesis of complex captures at 900+ FPS.

KP-RED: Exploiting Semantic Keypoints for Joint 3D Shape Retrieval and Deformation

In this paper, we present KP-RED, a unified KeyPoint-driven REtrieval and Deformation framework that takes object scans as input and jointly retrieves and deforms the most geometrically similar CAD models from a pre-processed database to tightly match the target. Unlike existing dense matching based methods that typically struggle with noisy partial scans, we propose to leverage category-consistent sparse keypoints to naturally handle both full and partial object scans. Specifically, we first employ a lightweight retrieval module to establish a keypoint-based embedding space, measuring the similarity among objects by dynamically aggregating deformation-aware local-global features around extracted keypoints. Objects that are close in the embedding space are considered similar in geometry. Then we introduce the neural cage-based deformation module that estimates the influence vector of each keypoint upon cage vertices inside its local support region to control the deformation of the retrieved shape. Extensive experiments on the synthetic dataset PartNet and the real-world dataset Scan2CAD demonstrate that KP-RED surpasses existing state-of-the-art approaches by a large margin. Codes and trained models will be released in https://github.com/lolrudy/KP-RED.

Denoising Diffusion via Image-Based Rendering

Generating 3D scenes is a challenging open problem, which requires synthesizing plausible content that is fully consistent in 3D space. While recent methods such as neural radiance fields excel at view synthesis and 3D reconstruction, they cannot synthesize plausible details in unobserved regions since they lack a generative capability. Conversely, existing generative methods are typically not capable of reconstructing detailed, large-scale scenes in the wild, as they use limited-capacity 3D scene representations, require aligned camera poses, or rely on additional regularizers. In this work, we introduce the first diffusion model able to perform fast, detailed reconstruction and generation of real-world 3D scenes. To achieve this, we make three contributions. First, we introduce a new neural scene representation, IB-planes, that can efficiently and accurately represent large 3D scenes, dynamically allocating more capacity as needed to capture details visible in each image. Second, we propose a denoising-diffusion framework to learn a prior over this novel 3D scene representation, using only 2D images without the need for any additional supervision signal such as masks or depths. This supports 3D reconstruction and generation in a unified architecture. Third, we develop a principled approach to avoid trivial 3D solutions when integrating the image-based rendering with the diffusion model, by dropping out representations of some images. We evaluate the model on several challenging datasets of real and synthetic images, and demonstrate superior results on generation, novel view synthesis and 3D reconstruction.

HACD: Hand-Aware Conditional Diffusion for Monocular Hand-Held Object Reconstruction

Reconstructing hand-held objects from a single RGB image without known 3D object templates, category prior, or depth information is a vital yet challenging problem in computer vision. In contrast to prior works that utilize deterministic modeling paradigms, which make it hard to account for the uncertainties introduced by hand- and self-occlusion, we employ a probabilistic point cloud denoising diffusion model to tackle the above challenge. In this work, we present Hand-Aware Conditional Diffusion for monocular hand-held object reconstruction (HACD), modeling the hand-object interaction in two aspects. First, we introduce hand-aware conditioning to model hand-object interaction from both semantic and geometric perspectives. Specifically, a unified hand-object semantic embedding compensates for the 2D local feature deficiency induced by hand occlusion, and a hand articulation embedding further encodes the relationship between object vertices and hand joints. Second, we propose a hand-constrained centroid fixing scheme, which utilizes hand vertices priors to restrict the centroid deviation of partially denoised point cloud during diffusion and reverse process. Removing the centroid bias interference allows the diffusion models to focus on the reconstruction of shape, thus enhancing the stability and precision of local feature projection. Experiments on the synthetic ObMan dataset and two real-world datasets, HO3D and MOW, demonstrate our approach surpasses all existing methods by a large margin.

HiPose: Hierarchical Binary Surface Encoding and Correspondence Pruning for RGB-D 6DoF Object Pose Estimation

In this work, we present a novel dense-correspondence method for 6DoF object pose estimation from a single RGB-D image. While many existing data-driven methods achieve impressive performance, they tend to be time-consuming due to their reliance on rendering-based refinement approaches. To circumvent this limitation, we present HiPose, which establishes 3D-3D correspondences in a coarse-to-fine manner with a hierarchical binary surface encoding. Unlike previous dense-correspondence methods, we estimate the correspondence surface by employing point-to-surface matching and iteratively constricting the surface until it becomes a correspondence point while gradually removing outliers. Extensive experiments on public benchmarks LM-O, YCB-V, and T-Less demonstrate that our method surpasses all refinement-free methods and is even on par with expensive refinement-based approaches. Crucially, our approach is computationally efficient and enables real-time critical applications with high accuracy requirements. Code and models will be released.

SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation

Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of capturing this variation. To address this issue, we present SecondPose, a novel approach integrating object-specific geometric features with semantic category priors from DINOv2. Leveraging the advantage of DINOv2 in providing SE(3)-consistent semantic features, we hierarchically extract two types of SE(3)-invariant geometric features to further encapsulate local-to-global object-specific information. These geometric features are then point-aligned with DINOv2 features to establish a consistent object representation under SE(3) transformations, facilitating the mapping from camera space to the pre-defined canonical space, thus further enhancing pose estimation. Extensive experiments on NOCS-REAL275 demonstrate that SecondPose achieves a 12.4% leap forward over the state-of-the-art. Moreover, on a more complex dataset HouseCat6D which provides photometrically challenging objects, SecondPose still surpasses other competitors by a large margin. The code will be released soon.

SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs

Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement framework that utilizes a coarse-to-fine scheme with a scene graph as the scene representation. Unlike previous methods that rely on either known goal priors or zero-shot large models, SG-Bot exemplifies lightweight, real-time, and user-controllable characteristics, seamlessly blending the consideration of commonsense knowledge with automatic generation capabilities. SG-Bot employs a three-fold procedure--observation, imagination, and execution--to adeptly address the task. Initially, objects are discerned and extracted from a cluttered scene during the observation. These objects are first coarsely organized and depicted within a scene graph, guided by either commonsense or user-defined criteria. Then, this scene graph subsequently informs a generative model, which forms a fine-grained goal scene considering the shape information from the initial scene and object semantics. Finally, for execution, the initial and envisioned goal scenes are matched to formulate robotic action policies. Experimental results demonstrate that SG-Bot outperforms competitors by a large margin.

DDF-HO: Hand-Held Object Reconstruction via Conditional Directed Distance Field

Reconstructing hand-held objects from a single RGB image is an important and challenging problem. Existing works utilizing Signed Distance Fields (SDF) reveal limitations in comprehensively capturing the complex hand-object interactions, since SDF is only reliable within the proximity of the target, and hence, infeasible to simultaneously encode local hand and object cues. To address this issue, we propose DDF-HO, a novel approach leveraging Directed Distance Field (DDF) as the shape representation. Unlike SDF, DDF maps a ray in 3D space, consisting of an origin and a direction, to corresponding DDF values, including a binary visibility signal determining whether the ray intersects the objects and a distance value measuring the distance from origin to target in the given direction. We randomly sample multiple rays and collect local to global geometric features for them by introducing a novel 2D ray-based feature aggregation scheme and a 3D intersection-aware hand pose embedding, combining 2D-3D features to model hand-object interactions. Extensive experiments on synthetic and real-world datasets demonstrate that DDF-HO consistently outperforms all baseline methods by a large margin, especially under Chamfer Distance, with about 80% leap forward. Codes and trained models will be released soon.

CCD-3DR: Consistent Conditioning in Diffusion for Single-Image 3D Reconstruction

In this paper, we present a novel shape reconstruction method leveraging diffusion model to generate 3D sparse point cloud for the object captured in a single RGB image. Recent methods typically leverage global embedding or local projection-based features as the condition to guide the diffusion model. However, such strategies fail to consistently align the denoised point cloud with the given image, leading to unstable conditioning and inferior performance. In this paper, we present CCD-3DR, which exploits a novel centered diffusion probabilistic model for consistent local feature conditioning. We constrain the noise and sampled point cloud from the diffusion model into a subspace where the point cloud center remains unchanged during the forward diffusion process and reverse process. The stable point cloud center further serves as an anchor to align each point with its corresponding local projection-based features. Extensive experiments on synthetic benchmark ShapeNet-R2N2 demonstrate that CCD-3DR outperforms all competitors by a large margin, with over 40% improvement. We also provide results on real-world dataset Pix3D to thoroughly demonstrate the potential of CCD-3DR in real-world applications. Codes will be released soon