相关论文: ViP3D: End-to-end Visual Trajectory Prediction via…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

This paper discusses various techniques to let an agent learn how to predict the effects of its own actions on its sensor data autonomously, and their usefulness to apply them to visual sensors. An Extreme Learning Machine is used for…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…

Visual recognition systems mounted on autonomous moving agents face the challenge of unconstrained data, but simultaneously have the opportunity to improve their performance by moving to acquire new views of test data. In this work, we…

In computer vision, an entity such as an image or video is often represented as a set of instance vectors, which can be SIFT, motion, or deep learning feature vectors extracted from different parts of that entity. Thus, it is essential to…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Diffusion models (DMs) have become the new trend of generative models and have demonstrated a powerful ability of conditional synthesis. Among those, text-to-image diffusion models pre-trained on large-scale image-text pairs are highly…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Visual intelligence requires anticipating the future behavior of agents, yet vision systems lack a general representation for motion and behavior. We propose dense point trajectories as visual tokens for behavior, a structured mid-level…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Autonomous driving systems are a rapidly evolving technology that enables driverless car production. Trajectory prediction is a critical component of autonomous driving systems, enabling cars to anticipate the movements of surrounding…

The ability to model the underlying dynamics of visual scenes and reason about the future is central to human intelligence. Many attempts have been made to empower intelligent systems with such physical understanding and prediction…

Predicting on-road abnormalities such as road accidents or traffic violations is a challenging task in traffic surveillance. If such predictions can be done in advance, many damages can be controlled. Here in our wok, we tried to formulate…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

When driving, people make decisions based on current traffic as well as their desired route. They have a mental map of known routes and are often able to navigate without needing directions. Current self-driving models improve their…

Accurate long-term trajectory prediction in complex scenes, where multiple agents (e.g., pedestrians or vehicles) interact with each other and the environment while attempting to accomplish diverse and often unknown goals, is a challenging…

Collaborative driving systems leverage vehicle-to-everything (V2X) communication for multi-agent collaborative perception to enhance driving safety, yet they remain constrained by scarce annotated real-world V2X driving datasets and limited…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation. Nevertheless, the latency of vision-centric…

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene…