相关论文: Efficient Transformer-based 3D Object Detection wi…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

Object detection is a central downstream task used to test if pre-trained network parameters confer benefits, such as improved accuracy or training speed. The complexity of object detection methods can make this benchmarking non-trivial…

Next-generation wireless networks are expected to leverage multi-modal data sources to execute various wireless communication tasks such as beamforming and blockage prediction with situational-awareness. To do so, multi-modal transformers…

Stable consumer electronic systems can assist traffic better. Good traffic consumer electronic systems require collaborative work between traffic algorithms and hardware. However, performance of popular traffic algorithms containing vehicle…

In this paper, we propose a novel query design for the transformer-based object detection. In previous transformer-based detectors, the object queries are a set of learned embeddings. However, each learned embedding does not have an…

In this paper we propose augmenting Vision Transformer models with learnable memory tokens. Our approach allows the model to adapt to new tasks, using few parameters, while optionally preserving its capabilities on previously learned tasks.…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

Real-time video analytics on the edge is challenging as the computationally constrained resources typically cannot analyse video streams at full fidelity and frame rate, which results in loss of accuracy. This paper proposes a Transprecise…

Autoregressive Transformers are increasingly being deployed as end-to-end robot and autonomous vehicle (AV) policy architectures, owing to their scalability and potential to leverage internet-scale pretraining for generalization.…

Transformers have proven superior performance for a wide variety of tasks since they were introduced. In recent years, they have drawn attention from the vision community in tasks such as image classification and object detection. Despite…

Accurate 3D object detection is crucial for autonomous vehicles and robots to navigate and interact with the environment safely and effectively. Meanwhile, the performance of 3D detector relies on the data size and annotation which is…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

In this paper, we propose a simple yet effective transformer framework for self-supervised learning called DenseDINO to learn dense visual representations. To exploit the spatial information that the dense prediction tasks require but…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

Vision transformers have recently achieved competitive results across various vision tasks but still suffer from heavy computation costs when processing a large number of tokens. Many advanced approaches have been developed to reduce the…

LiDAR-based 3D object detection is a critical technology for the development of autonomous driving and robotics. However, the high cost of data annotation limits its advancement. We propose a novel and effective active learning (AL) method…

In the past few years, mobile deep-learning deployment progressed by leaps and bounds, but solutions still struggle to accommodate its severe and fluctuating operational restrictions, which include bandwidth, latency, computation, and…

Existing offboard 3D detectors always follow a modular pipeline design to take advantage of unlimited sequential point clouds. We have found that the full potential of offboard 3D detectors is not explored mainly due to two reasons: (1) the…

We propose a novel algorithm for accelerating dense long-term 3D point tracking in videos. Through analysis of existing state-of-the-art methods, we identify two major computational bottlenecks. First, transformer-based iterative tracking…