相关论文: ConceptFusion: Open-set Multimodal 3D Mapping

Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the…

Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…

We present Uni-Fusion, a universal continuous mapping framework for surfaces, surface properties (color, infrared, etc.) and more (latent features in CLIP embedding space, etc.). We propose the first universal implicit encoding model that…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

Diffusion models have dramatically advanced text-to-image generation in recent years, translating abstract concepts into high-fidelity images with remarkable ease. In this work, we examine whether they can also blend distinct concepts,…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Forecasting urban phenomena such as housing prices and public health indicators requires the effective integration of various geospatial data. Current methods primarily utilize task-specific models, while recent foundation models for…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

We introduce a unified single and multi-view neural implicit 3D reconstruction framework VPFusion. VPFusion attains high-quality reconstruction using both - 3D feature volume to capture 3D-structure-aware context, and pixel-aligned image…

Investigating the impact of fatigue on human physiological function and motor behavior is crucial for developing biomechanics and medical applications aimed at mitigating fatigue, reducing injury risk, and creating sophisticated ergonomic…

The size of training dataset is known to be among the most dominating aspects of training high-performance face recognition embedding model. Building a large dataset from scratch could be cumbersome and time-intensive, while combining…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Image fusion aims to integrate complementary information from multiple source images to produce a more informative and visually consistent representation, benefiting both human perception and downstream vision tasks. Despite recent…

With the rapid adoption of diffusion models, synthetic data generation has emerged as a promising approach for addressing the growing demand for large-scale image datasets. However, images generated purely by diffusion models often exhibit…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…

Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suffer from fragile instance association due to incomplete…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…