mlsanityData to 14 Oct 2026

3DRP-Net: 3D Relative Position-aware Network for 3D Visual Grounding

arXiv 2307.13363 ↗First posted 25 Jul 2023cs.CVcited by 25

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Abstract (arXiv)

3D visual grounding aims to localize the target object in a 3D point cloud by a free-form language description. Typically, the sentences describing the target object tend to provide information about its relative relation between other objects and its position within the whole scene. In this work, we propose a relation-aware one-stage framework, named 3D Relative Position-aware Network (3DRP-Net), which can effectively capture the relative spatial relationships between objects and enhance object attributes. Specifically, 1) we propose a 3D Relative Position Multi-head Attention (3DRP-MA) module to analyze relative relations from different directions in the context of object pairs, which helps the model to focus on the specific object relations mentioned in the sentence. 2) We designed a soft-labeling strategy to alleviate the spatial ambiguity caused by redundant points, which further stabilizes and enhances the learning process through a constant and discriminative distribution. Extensive experiments conducted on three benchmarks (i.e., ScanRefer and Nr3D/Sr3D) demonstrate that our method outperforms all the state-of-the-art methods in general. The source code will be released on GitHub.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). Builds on 35 of its 46 references that are in the map. First posted on arXiv 25 Jul 2023.

Builds on

35 of 46 references.

References · 35

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,744
  4. 2019Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformercited by 14,599
  5. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  6. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  7. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  8. 2020DeBERTa: Decoding-enhanced BERT with Disentangled Attentioncited by 2,181
  9. 2020Point Transformercited by 1,470
  10. 2015Flickr30k Entities: Collecting Region-to-Phrase Correspondences for Richer Image-to-Sentence Modelscited by 1,362
  11. 2019Habitat: A Platform for Embodied AI Researchcited by 1,191
  12. 2018Self-Attention with Relative Position Representationscited by 1,120
23 more
  1. 2021MDETR -- Modulated Detection for End-to-End Multi-Modal Understandingcited by 819
  2. 2019Deep Hough Voting for 3D Object Detection in Point Cloudscited by 648
  3. 2018Gibson Env: Real-World Perception for Embodied Agentscited by 481
  4. 2019ScanRefer: 3D Object Localization in RGB-D Scans using Natural Languagecited by 452
  5. 2021An End-to-End Transformer Model for 3D Object Detectioncited by 329
  6. 2017Relation Networks for Object Detectioncited by 305
  7. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 305
  8. 2021TransVG: End-to-End Visual Grounding with Transformerscited by 271
  9. 2020Scan2Cap: Context-aware Dense Captioning in RGB-D Scanscited by 218
  10. 2021Group-Free 3D Object Detection via Transformerscited by 215
  11. 2019Local Relation Networks for Image Recognitioncited by 210
  12. 2021Rethinking and Improving Relative Position Encoding for Vision Transformercited by 207
  13. 2019A Fast and Accurate One-Stage Approach to Visual Groundingcited by 195
  14. 2019Vision-Language Navigation with Self-Supervised Auxiliary Reasoning Taskscited by 179
  15. 2021Referring Transformer: A One-step Approach to Multi-task Visual Groundingcited by 143
  16. 2021InstanceRefer: Cooperative Holistic Understanding for Visual Grounding on Point Clouds through Instance Multi-level Contextual Referringcited by 141
  17. 2022Multi-View Transformer for 3D Visual Groundingcited by 140
  18. 2021SAT: 2D Semantics Assisted Training for 3D Visual Groundingcited by 124
  19. 2022Language Conditioned Spatial Relation Reasoning for 3D Object Groundingcited by 122
  20. 20223D-SPS: Single-Stage 3D Visual Grounding via Referred Point Progressive Selectioncited by 110
  21. 2021LanguageRefer: Spatial-Language Model for 3D Visual Groundingcited by 89
  22. 2022Improving Visual Grounding with Visual-Linguistic Verification and Iterative Reasoningcited by 69
  23. 2023Distilling Coarse-to-Fine Semantic Matching Knowledge for Weakly Supervised 3D Visual Groundingcited by 18

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 7; 2025: 11; 2026: 4.

25 papers.

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  1. 2023Chat-Scene: Bridging 3D Scene and Large Language Models with Object Identifierscited by 175
  2. 2023Chat-3D: Data-efficiently Tuning Large Language Model for Universal Dialogue of 3D Scenescited by 129
  3. 2024Grounded 3D-LLM with Referent Tokenscited by 115
  4. 2025GPT4Scene: Understand 3D Scenes from Videos with Vision-Language Modelscited by 109
  5. 2025Inst3D-LMM: Instance-Aware 3D Scene Understanding with Multi-modal Instruction Tuningcited by 51
  6. 2024A Survey on Text-guided 3D Visual Grounding: Elements, Recent Advances, and Future Directionscited by 25
  7. 2023Extending Multi-modal Contrastive Representationscited by 21
  8. 20243D-GRES: Generalized 3D Referring Expression Segmentationcited by 18
  9. 2024Solving Zero-Shot 3D Visual Grounding as Constraint Satisfaction Problemscited by 7
  10. 2025SpatialPrompting: Keyframe-driven Zero-Shot Spatial Reasoning with Off-the-Shelf Multimodal Large Language Modelscited by 7
  11. 2026LMMs Meet Object-Centric Vision: Understanding, Segmentation, Editing and Generationcited by 6
  12. 2025S2-MLLM: Boosting Spatial Reasoning Capability of MLLMs for 3D Visual Grounding with Structural Guidancecited by 5
13 more
  1. 2025CVP: Central-Peripheral Vision-Inspired Multimodal Model for Spatial Reasoningcited by 5
  2. 2024Multi-Object 3D Grounding with Dynamic Modules and Language-Informed Spatial Attentioncited by 4
  3. 2025Uni3D-MoE: Scalable Multimodal 3D Scene Understanding via Mixture of Expertscited by 4
  4. 2024Data-Efficient 3D Visual Grounding via Order-Aware Referringcited by 3
  5. 2025Descrip3D: Enhancing Large Language Model-based 3D Scene Understanding with Object-Level Text Descriptionscited by 3
  6. 2026Chat-Scene++: Exploiting Context-Rich Object Identification for 3D LLMcited by 2
  7. 2025Text-Scene: A Scene-to-Language Parsing Framework for 3D Scene Understandingcited by 1
  8. 20263D-DRES: Detailed 3D Referring Expression Segmentationcited by 1
  9. 2024PD-APE: A Parallel Decoding Framework with Adaptive Position Encoding for 3D Visual Groundingcited by 0
  10. 20253DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignmentcited by 0
  11. 2025Unified Representation Space for 3D Visual Groundingcited by 0
  12. 2025A Study of the Framework and Real-World Applications of Language Embedding for 3D Scene Understandingcited by 0
  13. 2026SmartMage: Dynamic Modality Orchestration for 3D Scene Understandingcited by 0