OpenObj: Open-Vocabulary Object-Level Neural Radiance Fields with Fine-Grained Understanding

Y Deng, J Wang, J Zhao, J Dou, Y Yang… - arXiv preprint arXiv …, 2024 - arxiv.org
Y Deng, J Wang, J Zhao, J Dou, Y Yang, Y Yue
arXiv preprint arXiv:2406.08009, 2024arxiv.org
In recent years, there has been a surge of interest in open-vocabulary 3D scene
reconstruction facilitated by visual language models (VLMs), which showcase remarkable
capabilities in open-set retrieval. However, existing methods face some limitations: they
either focus on learning point-wise features, resulting in blurry semantic understanding, or
solely tackle object-level reconstruction, thereby overlooking the intricate details of the
object's interior. To address these challenges, we introduce OpenObj, an innovative …
In recent years, there has been a surge of interest in open-vocabulary 3D scene reconstruction facilitated by visual language models (VLMs), which showcase remarkable capabilities in open-set retrieval. However, existing methods face some limitations: they either focus on learning point-wise features, resulting in blurry semantic understanding, or solely tackle object-level reconstruction, thereby overlooking the intricate details of the object's interior. To address these challenges, we introduce OpenObj, an innovative approach to build open-vocabulary object-level Neural Radiance Fields (NeRF) with fine-grained understanding. In essence, OpenObj establishes a robust framework for efficient and watertight scene modeling and comprehension at the object-level. Moreover, we incorporate part-level features into the neural fields, enabling a nuanced representation of object interiors. This approach captures object-level instances while maintaining a fine-grained understanding. The results on multiple datasets demonstrate that OpenObj achieves superior performance in zero-shot semantic segmentation and retrieval tasks. Additionally, OpenObj supports real-world robotics tasks at multiple scales, including global movement and local manipulation.
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