3D visual grounding is the task of localizing the object in a 3D scene which is referred by a description in natural language. With a wide range of applications ranging from autonomous indoor robotics to AR/VR, the task has recently risen in popularity. A common formulation to tackle 3D visual grounding is grounding-by-detection, where localization is done via bounding boxes. However, for real-life applications that require physical interactions, a bounding box insufficiently describes the geometry of an object. We therefore tackle the problem of dense 3D visual grounding, i.e. referral-based 3D instance segmentation. We propose a dense 3D grounding network ConcreteNet, featuring three novel stand-alone modules which aim to improve grounding performance for challenging repetitive instances, i.e. instances with distractors of the same semantic class. First, we introduce a bottom-up attentive fusion module that aims to disambiguate inter-instance relational cues, next we construct a contrastive training scheme to induce separation in the latent space, and finally we resolve view-dependent utterances via a learned global camera token. ConcreteNet ranks 1st on the challenging ScanRefer online benchmark by a considerable +9.43% accuracy at 50% IoU and has won the ICCV 3rd Workshop on Language for 3D Scenes "3D Object Localization" challenge.

In the previous article, we understood the complete flow of the decision tree algorithm. In this article, let's understand why we need to learn about the random forest. Why do we need Random forest? What is it all about? Random Forest is also a supervised machine-learning algorithm.

The standard approach of learning decision trees from histogram data is to treat the bins as independent variables. However, as the underlying dependencies among the bins might not be completely exploited by this approach, an algorithm has been proposed for learning decision trees from histogram data by considering all bins simultaneously while partitioning examples at each node of the tree. Although the algorithm has been demonstrated to improve predictive performance, its computational complexity has turned out to be a major bottleneck, in particular for histograms with a large number of bins. In this paper, we propose instead a sliding window approach to select subsets of the bins to be considered simultaneously while partitioning examples. This significantly reduces the number of possible splits to consider, allowing for substantially larger histograms to be handled. We also propose to evaluate the original bins independently, in addition to evaluating the subsets of bins when performing splits. This ensures that the information obtained by treating bins simultaneously is an additional gain compared to what is considered by the standard approach. Results of experiments on applying the new algorithm to both synthetic and real world datasets demonstrate positive results in terms of predictive performance without excessive computational cost.