arXiv:2502.19128cs.CV2025-02ICRA被引 11

通过3D形状与文本配对增强,提升跨模态3D检索精度。

SCA3D: Enhancing Cross-modal 3D Retrieval via 3D Shape and Caption Paired Data Augmentation

  • 基于LLaVA构建部件库,生成带语义的新3D-文本对。
  • 利用组件重组与模板生成新数据,使检索准确率提升超30%。
  • 适合研究3D视觉语言对齐、机器人交互的开发者使用。

跨模态3D检索旨在实现文本描述与3D形状之间的双向匹配,有望提升自然语言与3D环境的交互能力,尤其在机器人和具身AI应用中具有重要意义。然而,3D数据稀缺且获取成本高,现有方法严重依赖有限的3D形状特征,导致泛化能力不足。为此,我们提出SCA3D,一种面向跨模态3D检索的在线3D形状与文本配对数据增强方法。该方法利用LLaVA模型为数据集中每个3D形状的分割部件生成语义描述,构建部件库;通过计算部件间的内外距离,将不同组件重组为新3D形状,确保无重叠且紧密贴合;再结合文本模板处理部件描述,生成新的文本内容。在此基础上,采用单模态编码器提取3D与文本嵌入,并使用地球移动距离(EMD)计算细粒度跨模态相似性,结合对比学习强化双向检索。大量实验表明,在Text2Shape数据集上,SCA3D将Shape-to-Text的RR@1从20.03提升至27.22,Text-to-Shape的RR@1从13.12提升至16.67,显著优于现有方法。

原文摘要 · Abstract (English)

The cross-modal 3D retrieval task aims to achieve mutual matching between text descriptions and 3D shapes. This has the potential to enhance the interaction between natural language and the 3D environment, especially within the realms of robotics and embodied artificial intelligence (AI) applications. However, the scarcity and expensiveness of 3D data constrain the performance of existing cross-modal 3D retrieval methods. These methods heavily rely on features derived from the limited number of 3D shapes, resulting in poor generalization ability across diverse scenarios. To address this challenge, we introduce SCA3D, a novel 3D shape and caption online data augmentation method for cross-modal 3D retrieval. Our approach uses the LLaVA model to create a component library, captioning each segmented part of every 3D shape within the dataset. Notably, it facilitates the generation of extensive new 3D-text pairs containing new semantic features. We employ both inter and intra distances to align various components into a new 3D shape, ensuring that the components do not overlap and are closely fitted. Further, text templates are utilized to process the captions of each component and generate new text descriptions. Besides, we use unimodal encoders to extract embeddings for 3D shapes and texts based on the enriched dataset. We then calculate fine-grained cross-modal similarity using Earth Mover's Distance (EMD) and enhance cross-modal matching with contrastive learning, enabling bidirectional retrieval between texts and 3D shapes. Extensive experiments show our SCA3D outperforms previous works on the Text2Shape dataset, raising the Shape-to-Text RR@1 score from 20.03 to 27.22 and the Text-to-Shape RR@1 score from 13.12 to 16.67. Codes can be found in https://github.com/3DAgentWorld/SCA3D.

跨模态检索3D生成数据增强具身AI

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