Instance-free Text to Point Cloud Localization with Relative Position Awareness

arXiv:2404.17845v1 Announce Type: new
Abstract: Text-to-point-cloud cross-modal localization is an emerging vision-language task critical for future robot-human collaboration. It seeks to localize a position from a city-scale point cloud scene based on a few natural language instructions. In this paper, we address two key limitations of existing approaches: 1) their reliance on ground-truth instances as input; and 2) their neglect of the relative positions among potential instances. Our proposed model follows a two-stage pipeline, including a coarse stage for text-cell …

abstract arxiv city cloud collaboration cs.cv free future human instance key language limitations localization modal natural natural language paper point-cloud robot scale text type vision vision-language