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Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…
Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…
This paper presents a novel semantic scene change detection scheme with only weak supervision. A straightforward approach for this task is to train a semantic change detection network directly from a large-scale dataset in an end-to-end…
One-shot object detection aims at detecting novel objects according to merely one given instance. With extreme data scarcity, current approaches explore various feature fusions to obtain directly transferable meta-knowledge. Yet, their…
Addressing the challenge of removing atmospheric fog or haze from digital images, known as image dehazing, has recently gained significant traction in the computer vision community. Although contemporary dehazing models have demonstrated…
There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved,…
The encode-decoder framework has shown recent success in image captioning. Visual attention, which is good at detailedness, and semantic attention, which is good at comprehensiveness, have been separately proposed to ground the caption on…
Image segmentation is an essential component in many image processing and computer vision tasks. The primary goal of image segmentation is to simplify an image for easier analysis, and there are two broad approaches for achieving this: edge…
Access to large and diverse computer-aided design (CAD) drawings is critical for developing symbol spotting algorithms. In this paper, we present FloorPlanCAD, a large-scale real-world CAD drawing dataset containing over 10,000 floor plans,…
Feature learning on point clouds has shown great promise, with the introduction of effective and generalizable deep learning frameworks such as pointnet++. Thus far, however, point features have been abstracted in an independent and…
Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…
Image-adaptive lookup tables (LUTs) have achieved great success in real-time image enhancement tasks due to their high efficiency for modeling color transforms. However, they embed the complete transform, including the color…
Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…
Keypoint detection & descriptors are foundational tech-nologies for computer vision tasks like image matching, 3D reconstruction and visual odometry. Hand-engineered methods like Harris corners, SIFT, and HOG descriptors have been used for…
We present SimNet, an AI-driven multi-physics simulation framework, to accelerate simulations across a wide range of disciplines in science and engineering. Compared to traditional numerical solvers, SimNet addresses a wide range of use…
Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…
Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…
Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…
We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific…
In this paper, we propose a method for keypoint discovery from a 2D image using image-level supervision. Recent works on unsupervised keypoint discovery reliably discover keypoints of aligned instances. However, when the target instances…