相关论文: ARM3D: Attention-based relation module for indoor …

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Distantly supervised relation extraction intrinsically suffers from noisy labels due to the strong assumption of distant supervision. Most prior works adopt a selective attention mechanism over sentences in a bag to denoise from wrongly…

Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, especially specialized small models, exhibit poor…

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

A key challenge for LiDAR-based 3D object detection is to capture sufficient features from large scale 3D scenes especially for distant or/and occluded objects. Albeit recent efforts made by Transformers with the long sequence modeling…

Integrating the 3D world into large language models (3D-based LLMs) has been a promising research direction for 3D scene understanding. However, current 3D-based LLMs fall short in situated understanding due to two key limitations: 1)…

Benefiting from the capability of building inter-dependencies among channels or spatial locations, attention mechanisms have been extensively studied and broadly used in a variety of computer vision tasks recently. In this paper, we…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

We investigate a human-like interpretable model of video understanding. Humans recognise complex activities in video by recognising critical spatio-temporal relations among explicitly recognised objects and parts, for example, an object…

We propose Int3DNet, a scene-aware network that predicts 3D intention areas directly from scene geometry and head-hand motion cues, enabling robust human intention prediction without explicit object-level perception. In Mixed Reality (MR),…

Large Vision-Language Models (LVLMs) have achieved remarkable performance on diverse vision-language tasks. However, LVLMs still suffer from hallucinations, generating text that contradicts the visual input. Existing research has primarily…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

This paper proposes an Agile Aggregating Multi-Level feaTure framework (Agile Amulet) for salient object detection. The Agile Amulet builds on previous works to predict saliency maps using multi-level convolutional features. Compared to…

Neural radiance fields are an emerging 3D scene representation and recently even been extended to learn features for scene understanding by distilling open-vocabulary features from vision-language models. However, current method primarily…

Multi-camera-based 3D object detection has made notable progress in the past several years. However, we observe that there are cases (e.g. faraway regions) in which popular 2D object detectors are more reliable than state-of-the-art 3D…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…

Monocular 3D object detection is valuable for various applications such as robotics and AR/VR. Existing methods are confined to closed-set settings, where the training and testing sets consist of the same scenes and/or object categories.…