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

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…

We propose a unified object-aware temporal learning framework for multi-view 3D detection and tracking tasks. Having observed that the efficacy of the temporal fusion strategy in recent multi-view perception methods may be weakened by…

Spatial understanding of the semantics of the surroundings is a key capability needed by autonomous cars to enable safe driving decisions. Recently, purely vision-based solutions have gained increasing research interest. In particular,…

Referring Video Object Segmentation is an emerging multi-modal task that aims to segment objects in the video given a natural language expression. In this work, we build two instance-centric models and fuse predicted results from…

Recently, transformer-based techniques incorporating superpoints have become prevalent in 3D instance segmentation. However, they often encounter an over-segmentation problem, especially noticeable with large objects. Additionally,…

Injecting semantics into 3D Gaussian Splatting (3DGS) has recently garnered significant attention. While current approaches typically distill 3D semantic features from 2D foundational models (e.g., CLIP and SAM) to facilitate novel view…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Object detection from images captured by Unmanned Aerial Vehicles (UAVs) is becoming increasingly useful. Despite the great success of the generic object detection methods trained on ground-to-ground images, a huge performance drop is…

This paper presents 6D-ViT, a transformer-based instance representation learning network, which is suitable for highly accurate category-level object pose estimation on RGB-D images. Specifically, a novel two-stream encoder-decoder…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

Recently, transformer-based methods have dominated 3D instance segmentation, where mask attention is commonly involved. Specifically, object queries are guided by the initial instance masks in the first cross-attention, and then iteratively…

Autonomous vehicles often have varying camera sensor setups, which is inevitable due to restricted placement options for different vehicle types. Training a perception model on one particular setup and evaluating it on a new, different…

To generalize to novel visual scenes with new viewpoints and new object poses, a visual system needs representations of the shapes of the parts of an object that are invariant to changes in viewpoint or pose. 3D graphics representations…

We propose a novel framework to automatically learn to aggregate and transform photometric measurements from multiple unstructured views into spatially distinctive and view-invariant low-level features, which are subsequently fed to a…