相关论文: Text2Pos: Text-to-Point-Cloud Cross-Modal Localiza…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Visually grounded speech models learn from images paired with spoken captions. By tagging images with soft text labels using a trained visual classifier with a fixed vocabulary, previous work has shown that it is possible to train a model…

Previous approaches for scene text detection usually rely on manually defined sliding windows. This work presents an intuitive two-stage region-based method to detect multi-oriented text without any prior knowledge regarding the textual…

Most existing image retrieval systems use text queries as a way for the user to express what they are looking for. However, fine-grained image retrieval often requires the ability to also express where in the image the content they are…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding…

Conversational text-to-speech (TTS) aims to synthesize speech with proper prosody of reply based on the historical conversation. However, it is still a challenge to comprehensively model the conversation, and a majority of conversational…

Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to predict the intent, and corresponding goal location, of other…

Prompt learning (PL) has emerged as an effective strategy to adapt vision-language models (VLMs), such as CLIP, for downstream tasks under limited supervision. While PL has demonstrated strong generalization on natural image datasets, its…

In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…

In recent years, the dominant paradigm for text spotting is to combine the tasks of text detection and recognition into a single end-to-end framework. Under this paradigm, both tasks are accomplished by operating over a shared global…

Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

How do we imbue robots with the ability to efficiently manipulate unseen objects and transfer relevant skills based on demonstrations? End-to-end learning methods often fail to generalize to novel objects or unseen configurations. Instead,…

Text spotting, a task involving the extraction of textual information from image or video sequences, faces challenges in cross-domain adaption, such as image-to-image and image-to-video generalization. In this paper, we introduce a new…

Given a textual phrase and an image, the visual grounding problem is the task of locating the content of the image referenced by the sentence. It is a challenging task that has several real-world applications in human-computer interaction,…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…