相关论文: DisARM: Displacement Aware Relation Module for 3D …

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

Image-text retrieval has developed rapidly in recent years. However, it is still a challenge in remote sensing due to visual-semantic imbalance, which leads to incorrect matching of non-semantic visual and textual features. To solve this…

Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

Knowledge distillation learns a lightweight student model that mimics a cumbersome teacher. Existing methods regard the knowledge as the feature of each instance or their relations, which is the instance-level knowledge only from the…

This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…

Deep neural network approaches have demonstrated high performance in object recognition (CNN) and detection (Faster-RCNN) tasks, but experiments have shown that such architectures are vulnerable to adversarial attacks (FFF, UAP): low…

Infrared-visible object detection aims to achieve robust object detection by leveraging the complementary information of infrared and visible image pairs. However, the commonly existing modality misalignment problem presents two challenges:…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Existing object detection frameworks are usually built on a single format of object/part representation, i.e., anchor/proposal rectangle boxes in RetinaNet and Faster R-CNN, center points in FCOS and RepPoints, and corner points in…

Accurate 3D object detection is essential for ensuring the safety of autonomous vehicles. Cooperative perception, which leverages vehicle-to-everything (V2X) communication to share perceptual data, enhances detection but is vulnerable to…

Most current detection methods have adopted anchor boxes as regression references. However, the detection performance is sensitive to the setting of the anchor boxes. A proper setting of anchor boxes may vary significantly across different…

Collaborative perception in multi-agent system enhances overall perceptual capabilities by facilitating the exchange of complementary information among agents. Current mainstream collaborative perception methods rely on discretized feature…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

In this paper, we present DAT, a Depth-Aware Transformer framework designed for camera-based 3D detection. Our model is based on observing two major issues in existing methods: large depth translation errors and duplicate predictions along…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

Irregular scene text recognition has attracted much attention from the research community, mainly due to the complexity of shapes of text in natural scene. However, recent methods either rely on shape-sensitive modules such as bounding box…