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

We propose Vision Token Turing Machines (ViTTM), an efficient, low-latency, memory-augmented Vision Transformer (ViT). Our approach builds on Neural Turing Machines and Token Turing Machines, which were applied to NLP and sequential visual…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…

LiDAR-based sparse 3D object detection plays a crucial role in autonomous driving applications due to its computational efficiency advantages. Existing methods either use the features of a single central voxel as an object proxy, or treat…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Remote sensing datasets offer significant promise for tackling key classification tasks such as land-use categorization, object presence detection, and rural/urban classification. However, many existing studies tend to focus on narrow tasks…

Since the introduction of the Vision Transformer (ViT), researchers have sought to make ViTs more efficient by removing redundant information in the processed tokens. While different methods have been explored to achieve this goal, we still…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D…

Vision Transformers (ViTs) have achieved state-of-the-art performance on various vision tasks. However, ViTs' self-attention module is still arguably a major bottleneck, limiting their achievable hardware efficiency. Meanwhile, existing…

The recently developed vision transformer (ViT) has achieved promising results on image classification compared to convolutional neural networks. Inspired by this, in this paper, we study how to learn multi-scale feature representations in…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

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…

While previous CNN-based models have exhibited promising results for salient object detection (SOD), their ability to explore global long-range dependencies is restricted. Our previous work, the Visual Saliency Transformer (VST), addressed…

Visual attention helps achieve robust perception under noise, corruption, and distribution shifts in human vision, which are areas where modern neural networks still fall short. We present VARS, Visual Attention from Recurrent Sparse…

Sparse algorithms offer great flexibility for multi-view temporal perception tasks. In this paper, we present an enhanced version of Sparse4D, in which we improve the temporal fusion module by implementing a recursive form of multi-frame…

We present Recurrent Vision Transformers (RVTs), a novel backbone for object detection with event cameras. Event cameras provide visual information with sub-millisecond latency at a high-dynamic range and with strong robustness against…

3D object detection using point cloud (PC) data is essential for perception pipelines of autonomous driving, where efficient encoding is key to meeting stringent resource and latency requirements. PointPillars, a widely adopted bird's-eye…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Voxel-based methods have achieved state-of-the-art performance for 3D object detection in autonomous driving. However, their significant computational and memory costs pose a challenge for their application to resource-constrained vehicles.…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…