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3D object detection models that exploit both LiDAR and camera sensor features are top performers in large-scale autonomous driving benchmarks. A transformer is a popular network architecture used for this task, in which so-called object…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

DEtection TRansformer (DETR) for object detection reaches competitive performance compared with Faster R-CNN via a transformer encoder-decoder architecture. However, trained with scratch transformers, DETR needs large-scale training data…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

The dominant multi-camera 3D detection paradigm is based on explicit 3D feature construction, which requires complicated indexing of local image-view features via 3D-to-2D projection. Other methods implicitly introduce geometric positional…

Scene text recognition is a challenging task due to diverse variations of text instances in natural scene images. Conventional methods based on CNN-RNN-CTC or encoder-decoder with attention mechanism may not fully investigate stable and…

3D object detection is a crucial research topic in computer vision, which usually uses 3D point clouds as input in conventional setups. Recently, there is a trend of leveraging multiple sources of input data, such as complementing the 3D…

Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…

A bathtub in a library, a sink in an office, a bed in a laundry room -- the counter-intuition suggests that scene provides important prior knowledge for 3D object detection, which instructs to eliminate the ambiguous detection of similar…

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…

Vision Transformers (ViTs) have achieved state-of-the-art results on various computer vision tasks, including 3D object detection. However, their end-to-end implementation also makes ViTs less explainable, which can be a challenge for…

Implicit neural fields have made remarkable progress in reconstructing 3D surfaces from multiple images; however, they encounter challenges when it comes to separating individual objects within a scene. Previous work has attempted to tackle…

3D object detection from multi-view images in traffic scenarios has garnered significant attention in recent years. Many existing approaches rely on object queries that are generated from 3D reference points to localize objects. However, a…

3D object representation learning is a fundamental challenge in computer vision to infer about the 3D world. Recent advances in deep learning have shown their efficiency in 3D object recognition, among which view-based methods have…

Transformers have shown promising progress in various visual object detection tasks, including monocular 2D/3D detection and surround-view 3D detection. More importantly, the attention mechanism in the Transformer model and the 3D…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…