相关论文: CoCoNets: Continuous Contrastive 3D Scene Represen…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

The 3D contrastive learning paradigm has demonstrated remarkable performance in downstream tasks through pretraining on point cloud data. Recent advances involve additional 2D image priors associated with 3D point clouds for further…

Scene understanding plays an important role in several high-level computer vision applications, such as autonomous vehicles, intelligent video surveillance, or robotics. However, too few solutions have been proposed for indoor/outdoor scene…

Arguably one of the top success stories of deep learning is transfer learning. The finding that pre-training a network on a rich source set (eg., ImageNet) can help boost performance once fine-tuned on a usually much smaller target set, has…

Current popular backbones in computer vision, such as Vision Transformers (ViT) and ResNets are trained to perceive the world from 2D images. However, to more effectively understand 3D structural priors in 2D backbones, we propose Mask3D to…

This paper addresses the challenges of complex dependencies and diverse anomaly patterns in cloud service environments by proposing a dependency modeling and anomaly detection method that integrates contrastive learning. The method…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

Modeling object dynamics with a neural network is an important problem with numerous applications. Most recent work has been based on graph neural networks. However, physics happens in 3D space, where geometric information potentially plays…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Camouflaged object detection (COD) presents a persistent challenge in accurately identifying objects that seamlessly blend into their surroundings. However, most existing COD models overlook the fact that visual systems operate within a…

The de facto approach in video object-centric learning maintains temporal consistency through learned dynamics modules that predict future object representations, called slots. We demonstrate that these predictors function as expensive…

3D object classification has attracted appealing attentions in academic researches and industrial applications. However, most existing methods need to access the training data of past 3D object classes when facing the common real-world…

We present recurrent geometry-aware neural networks that integrate visual information across multiple views of a scene into 3D latent feature tensors, while maintaining an one-to-one mapping between 3D physical locations in the world scene…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…