Related papers: SToRe3D: Sparse Token Relevance in ViTs for Effici…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

Vision Transformers (ViT) have emerged as the de-facto choice for numerous industry grade vision solutions. But their inference cost can be prohibitive for many settings, as they compute self-attention in each layer which suffers from…

Vision transformers (ViTs) have recently received explosive popularity, but their enormous model sizes and training costs remain daunting. Conventional post-training pruning often incurs higher training budgets. In contrast, this paper aims…

The advent of Vision Transformers (ViTs) marks a substantial paradigm shift in the realm of computer vision. ViTs capture the global information of images through self-attention modules, which perform dot product computations among…

Vision Transformer (ViT) is emerging as the state-of-the-art architecture for image recognition. While recent studies suggest that ViTs are more robust than their convolutional counterparts, our experiments find that ViTs trained on…

Non-uniformed 3D sparse data, e.g., point clouds or voxels in different spatial positions, make contribution to the task of 3D object detection in different ways. Existing basic components in sparse convolutional networks (Sparse CNNs)…

Recovering 3D information from scenes via multi-view stereo reconstruction (MVS) and novel view synthesis (NVS) is inherently challenging, particularly in scenarios involving sparse-view setups. The advent of 3D Gaussian Splatting (3DGS)…

In autonomous driving perception systems, 3D detection and tracking are the two fundamental tasks. This paper delves deeper into this field, building upon the Sparse4D framework. We introduce two auxiliary training tasks (Temporal Instance…

Over the past few years, the vision transformer and its various forms have gained significance in human pose estimation. By treating image patches as tokens, transformers can capture global relationships wisely, estimate the keypoint tokens…

Detection and tracking of moving objects is an essential component in environmental perception for autonomous driving. In the flourishing field of multi-view 3D camera-based detectors, different transformer-based pipelines are designed to…

Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…

While recent feed-forward 3D reconstruction models accelerate 3D reconstruction by jointly inferring dense geometry and camera poses in a single pass, their reliance on dense attention imposes a quadratic complexity, creating a prohibitive…

While Diffusion Transformers (DiTs) have achieved breakthroughs in video generation, this long sequence generation task remains constrained by the quadratic complexity of attention mechanisms, resulting in significant inference latency.…

It has been observed that visual classification models often rely mostly on the image background, neglecting the foreground, which hurts their robustness to distribution changes. To alleviate this shortcoming, we propose to monitor the…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

Diffusion Transformers (DiT) have become the de-facto model for generating high-quality visual content like videos and images. A huge bottleneck is the attention mechanism where complexity scales quadratically with resolution and video…

Large vision-language models (VLMs) enable joint processing of text and images. However, incorporating vision data significantly increases the prompt length, resulting in a longer time to first token (TTFT). This bottleneck can be…

In vision-language models (VLMs), visual tokens usually bear a significant amount of computational overhead despite sparsity of information in them when compared to text tokens. To address this, most existing methods learn a network to…