相关论文: PETR: Position Embedding Transformation for Multi-…

Attentional mechanisms are order-invariant. Positional encoding is a crucial component to allow attention-based deep model architectures such as Transformer to address sequences or images where the position of information matters. In this…

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In…

To enhance perception in autonomous vehicles (AVs), recent efforts are concentrating on 3D object detectors, which deliver more comprehensive predictions than traditional 2D object detectors, at the cost of increased memory footprint and…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…

We study the problem of object detection over scanned images of scientific documents. We consider images that contain objects of varying aspect ratios and sizes and range from coarse elements such as tables and figures to fine elements such…

We introduce a novel MV-DETR pipeline which is effective while efficient transformer based detection method. Given input RGBD data, we notice that there are super strong pretraining weights for RGB data while less effective works for depth…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

6D pose estimation is the task of predicting the translation and orientation of objects in a given input image, which is a crucial prerequisite for many robotics and augmented reality applications. Lately, the Transformer Network…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

Manipulation relationship detection (MRD) aims to guide the robot to grasp objects in the right order, which is important to ensure the safety and reliability of grasping in object stacked scenes. Previous works infer manipulation…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

Transformers are transforming the landscape of computer vision, especially for recognition tasks. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the first fully…

We introduce the first learning-based dense matching algorithm, termed Equirectangular Projection-Oriented Dense Kernelized Feature Matching (EDM), specifically designed for omnidirectional images. Equirectangular projection (ERP) images,…

The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Object encoding and identification are vital for robotic tasks such as autonomous exploration, semantic scene understanding, and re-localization. Previous approaches have attempted to either track objects or generate descriptors for object…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D…