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Multimodal large language models (MLLMs) have made significant advancements in vision understanding and reasoning. However, the autoregressive Transformer architecture used by MLLMs requries tokenization on input images, which limits their…
Object Detection with Transformers (DETR) and related works reach or even surpass the highly-optimized Faster-RCNN baseline with self-attention network architectures. Inspired by the evidence that pure self-attention possesses a strong…
The recent detection transformer (DETR) simplifies the object detection pipeline by removing hand-crafted designs and hyperparameters as employed in conventional two-stage object detectors. However, how to leverage the simple yet effective…
3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…
The DEtection TRansformer (DETR) opened new possibilities for object detection by modeling it as a translation task: converting image features into object-level representations. Previous works typically add expensive modules to DETR to…
With the goal of identifying pixel-wise salient object regions from each input image, salient object detection (SOD) has been receiving great attention in recent years. One kind of mainstream SOD methods is formed by a bottom-up feature…
Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…
End-to-end Transformer-based detectors (DETRs) have demonstrated strong detection performance. However, domain generalization (DG) research has primarily focused on convolutional neural network (CNN)-based detectors, while paying little…
A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…
In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…
Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…
Incremental object detection (IOD) aims to sequentially learn new classes, while maintaining the capability to locate and identify old ones. As the training data arrives with annotations only with new classes, IOD suffers from catastrophic…
In radar-camera 3D object detection, the radar point clouds are sparse and noisy, which causes difficulties in fusing camera and radar modalities. To solve this, we introduce a novel query-based detection method named Radar-Camera…
Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…
Enabling intelligent agents to comprehend and interact with 3D environments through natural language is crucial for advancing robotics and human-computer interaction. A fundamental task in this field is ego-centric 3D visual grounding,…
Detection Transformer (DETR) has redefined object detection by casting it as a set prediction task within an end-to-end framework. Despite its elegance, DETR and its variants still rely on fixed learnable queries and suffer from severe…
We present a novel architecture for 3D object detection, M3DeTR, which combines different point cloud representations (raw, voxels, bird-eye view) with different feature scales based on multi-scale feature pyramids. M3DeTR is the first…
3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage paradigm, i.e., language-irrelevant detection and cross-modal…
Recently, by introducing large-scale dataset and strong transformer network, video-language pre-training has shown great success especially for retrieval. Yet, existing video-language transformer models do not explicitly fine-grained…
Establishing accurate and representative matches is a crucial step in addressing the point cloud registration problem. A commonly employed approach involves detecting keypoints with salient geometric features and subsequently mapping these…