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

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

The recently proposed end-to-end transformer detectors, such as DETR and Deformable DETR, have a cascade structure of stacking 6 decoder layers to update object queries iteratively, without which their performance degrades seriously. In…

Feed-forward 3D reconstruction models based on Vision Transformers can directly estimate scene geometry and camera poses from a small set of input images, but scaling them to video inputs with hundreds or thousands of frames remains…

Fine-tuning provides an effective means to specialize pre-trained models for various downstream tasks. However, fine-tuning often incurs high memory overhead, especially for large transformer-based models, such as LLMs. While existing…

Diffusion Transformers (DiT) have become the dominant methods in image and video generation yet still suffer substantial computational costs. As an effective approach for DiT acceleration, feature caching methods are designed to cache the…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

The use of intelligent automation is growing significantly in the automotive industry, as it assists drivers and fleet management companies, thus increasing their productivity. Dash cams are now been used for this purpose which enables the…

3D object detection is a core perceptual challenge for robotics and autonomous driving. However, the class-taxonomies in modern autonomous driving datasets are significantly smaller than many influential 2D detection datasets. In this work,…

Large-scale transformer models have emerged as a powerful tool for semantic communication systems, enabling edge devices to extract rich representations for robust inference across noisy wireless channels. However, their substantial…

Recently, object detection models have witnessed notable performance improvements, particularly with transformer-based models. However, new objects frequently appear in the real world, requiring detection models to continually learn without…

For realizing safe autonomous driving, the end-to-end delays of real-time object detection systems should be thoroughly analyzed and minimized. However, despite recent development of neural networks with minimized inference delays,…

We propose the task Future Object Detection, in which the goal is to predict the bounding boxes for all visible objects in a future video frame. While this task involves recognizing temporal and kinematic patterns, in addition to the…

Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

While 3D Multi-modal Large Language Models (MLLMs) demonstrate remarkable scene understanding capabilities, their practical deployment faces critical challenges due to computational inefficiency. The key bottleneck stems from processing…

Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…

Modern two-stage object detectors generally require excessively large models for their detection heads to achieve high accuracy. To address this problem, we propose that the model parameters of two-stage detection heads can be condensed and…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

The LiDAR 3D object detector that strikes a balance between accuracy and speed is crucial for achieving real-time perception in autonomous driving. However, many existing LiDAR detection models depend on complex feature transformations,…

In this paper, we are interested in Detection Transformer (DETR), an end-to-end object detection approach based on a transformer encoder-decoder architecture without hand-crafted postprocessing, such as NMS. Inspired by Conditional DETR, an…