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

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines…

Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…

Grounding textual phrases in visual content is a meaningful yet challenging problem with various potential applications such as image-text inference or text-driven multimedia interaction. Most of the current existing methods adopt the…

Multimodal models excel in English, supported by abundant image-text and audio-text data, but performance drops sharply for other languages due to limited multilingual multimodal resources. Existing solutions rely on machine translation,…

In recent years, we have seen significant steps taken in the development of self-driving cars. Multiple companies are starting to roll out impressive systems that work in a variety of settings. These systems can sometimes give the…

Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

To advance models of multimodal context, we introduce a simple yet powerful neural architecture for data that combines vision and natural language. The "Bounding Boxes in Text Transformer" (B2T2) also leverages referential information…

For a given scene, humans can easily reason for the locations and pose to place objects. Designing a computational model to reason about these affordances poses a significant challenge, mirroring the intuitive reasoning abilities of humans.…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

We introduce a unified framework to jointly model images, text, and human attention traces. Our work is built on top of the recent Localized Narratives annotation framework [30], where each word of a given caption is paired with a mouse…

Audio grounding, or speech-driven open-set object detection, aims to localize and identify objects directly from speech, enabling generalization beyond predefined categories. This task is crucial for applications like human-robot…

Tracking by natural language specification is a new rising research topic that aims at locating the target object in the video sequence based on its language description. Compared with traditional bounding box (BBox) based tracking, this…

Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110,000$ remote…

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However,…

We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…

Text-to-image (T2I) generation has advanced rapidly, yet faithfully capturing spatial relationships described in natural language prompts remains a major challenge. Prior efforts have addressed this issue through prompt optimization,…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…