相关论文: FrustumFormer: Adaptive Instance-aware Resampling …

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Recent volumetric 3D reconstruction methods can produce very accurate results, with plausible geometry even for unobserved surfaces. However, they face an undesirable trade-off when it comes to multi-view fusion. They can fuse all available…

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…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Striking a balance between precision and efficiency presents a prominent challenge in the bird's-eye-view (BEV) 3D object detection. Although previous camera-based BEV methods achieved remarkable performance by incorporating long-term…

The future instance prediction from a Bird's Eye View(BEV) perspective is a vital component in autonomous driving, which involves future instance segmentation and instance motion prediction. Existing methods usually rely on a redundant and…

3D object detection from a single image is an important task in Autonomous Driving (AD), where various approaches have been proposed. However, the task is intrinsically ambiguous and challenging as single image depth estimation is already…

Instance retrieval requires one to search for images that contain a particular object within a large corpus. Recent studies show that using image features generated by pooling convolutional layer feature maps (CFMs) of a pretrained…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

End-to-end paradigms significantly improve the accuracy of various deep-learning-based computer vision models. To this end, tasks like object detection have been upgraded by replacing non-end-to-end components, such as removing non-maximum…

3D instance segmentation methods typically rely on high-quality point clouds or posed RGB-D scans, requiring complex multi-stage processing pipelines, and are highly sensitive to reconstruction noise. While recent feed-forward transformers…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

Vision-based Bird's Eye View (BEV) representation is an emerging perception formulation for autonomous driving. The core challenge is to construct BEV space with multi-camera features, which is a one-to-many ill-posed problem. Diving into…

Blind face restoration is to recover a high-quality face image from unknown degradations. As face image contains abundant contextual information, we propose a method, RestoreFormer, which explores fully-spatial attentions to model…

Multiview diffusion models have rapidly emerged as a powerful tool for content creation with spatial consistency across viewpoints, offering rich visual realism without requiring explicit geometry and appearance representation. However,…

The classification of gigapixel histopathology images with deep multiple instance learning models has become a critical task in digital pathology and precision medicine. In this work, we propose a Transformer-based multiple instance…

Cross-domain object detection and semantic segmentation have witnessed impressive progress recently. Existing approaches mainly consider the domain shift resulting from external environments including the changes of background, illumination…