POMA-3D learns self-supervised 3D scene representations from point maps and improves performance on geometric 3D tasks including navigation and scene retrieval.
Embodied intelligence for 3d under- standing: A survey on 3d scene question answering
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A CLIP-aligned transformer pretrained on multi-view RGB-Pointmap inputs with cross-view geometric and grounded view alignment yields unified 3D scene features that transfer to several scene-understanding tasks.
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POMA-3D: The Point Map Way to 3D Scene Understanding
POMA-3D learns self-supervised 3D scene representations from point maps and improves performance on geometric 3D tasks including navigation and scene retrieval.
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RGB-Pointmap Pretraining for Unified 3D Scene Understanding
A CLIP-aligned transformer pretrained on multi-view RGB-Pointmap inputs with cross-view geometric and grounded view alignment yields unified 3D scene features that transfer to several scene-understanding tasks.