相关论文: Towards Multimodal Multitask Scene Understanding M…

Latent diffusion models (LDMs) exhibit an impressive ability to produce realistic images, yet the inner workings of these models remain mysterious. Even when trained purely on images without explicit depth information, they typically output…

With the emergence of autonomous indoor robots, the computer vision task of indoor scene recognition has gained the spotlight. Indoor scene recognition is a challenging problem in computer vision that relies on local and global features in…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…

For embodied agents to infer representations of the underlying 3D physical world they inhabit, they should efficiently combine multisensory cues from numerous trials, e.g., by looking at and touching objects. Despite its importance,…

Immersive rooms are increasingly popular augmented reality systems that support multi-agent interactions within a virtual world. However, despite extensive content creation and technological developments, insights about perceptually-driven…

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D…

The integration of Large Language Models (LLMs) with computer vision is profoundly transforming perception tasks like image segmentation. For intelligent transportation systems (ITS), where accurate scene understanding is critical for…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…

Compared with an extensive list of automotive radar datasets that support autonomous driving, indoor radar datasets are scarce at a smaller scale in the format of low-resolution radar point clouds and usually under an open-space single-room…

Autonomous checkout systems rely on visual and sensory inputs to carry out fine-grained scene understanding in retail environments. Retail environments present unique challenges compared to typical indoor scenes owing to the vast number of…

Scene models allow robots to reason about what is in the scene, what else should be in it, and what should not be in it. In this paper, we propose a hybrid Boltzmann Machine (BM) for scene modeling where relations between objects are…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

Masked Image Modeling (MIM) is a self-supervised learning technique that involves masking portions of an image, such as pixels, patches, or latent representations, and training models to predict the missing information using the visible…

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…

Layout estimation and 3D object detection are two fundamental tasks in indoor scene understanding. When combined, they enable the creation of a compact yet semantically rich spatial representation of a scene. Existing approaches typically…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

In recent years, the role of artificially intelligent (AI) agents has evolved from being basic tools to socially intelligent agents working alongside humans towards common goals. In such scenarios, the ability to predict future behavior by…

Pedestrian Detection is the most critical module of an Autonomous Driving system. Although a camera is commonly used for this purpose, its quality degrades severely in low-light night time driving scenarios. On the other hand, the quality…