相关论文: GeoMIM: Towards Better 3D Knowledge Transfer via M…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

Understanding 3D scenes from multi-view inputs has been proven to alleviate the view discrepancy issue in 3D visual grounding. However, existing methods normally neglect the view cues embedded in the text modality and fail to weigh the…

Medical image segmentation remains a formidable challenge due to the label scarcity. Pre-training Vision Transformer (ViT) through masked image modeling (MIM) on large-scale unlabeled medical datasets presents a promising solution,…

Pre-trained vision models (PVMs) are fundamental to modern robotics, yet their optimal configuration remains unclear. Through systematic evaluation, we find that while DINO and iBOT outperform MAE across visuomotor control and perception…

Masked Image Modeling (MIM) has emerged as a powerful self-supervised learning paradigm for visual representation learning, enabling models to acquire rich visual representations by predicting masked portions of images from their visible…

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

A big convergence of language, vision, and multimodal pretraining is emerging. In this work, we introduce a general-purpose multimodal foundation model BEiT-3, which achieves state-of-the-art transfer performance on both vision and…

We propose a pre-training strategy called Multi-modal Multi-task Masked Autoencoders (MultiMAE). It differs from standard Masked Autoencoding in two key aspects: I) it can optionally accept additional modalities of information in the input…

Generating realistic 3D objects from single-view images requires natural appearance, 3D consistency, and the ability to capture multiple plausible interpretations of unseen regions. Existing approaches often rely on fine-tuning pretrained…

Recently, large multimodal models have built a bridge from visual to textual information, but they tend to underperform in remote sensing scenarios. This underperformance is due to the complex distribution of objects and the significant…

3D image segmentation plays an important role in biomedical image analysis. Many 2D and 3D deep learning models have achieved state-of-the-art segmentation performance on 3D biomedical image datasets. Yet, 2D and 3D models have their own…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Scene graphs have emerged as accurate descriptive priors for image generation and manipulation tasks, however, their complexity and diversity of the shapes and relations of objects in data make it challenging to incorporate them into the…

Vision Transformers (ViT) become widely-adopted architectures for various vision tasks. Masked auto-encoding for feature pretraining and multi-scale hybrid convolution-transformer architectures can further unleash the potentials of ViT,…

We introduce a pioneering approach to self-supervised learning for point clouds, employing a geometrically informed mask selection strategy called GeoMask3D (GM3D) to boost the efficiency of Masked Auto Encoders (MAE). Unlike the…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

Autonomous underwater navigation remains a challenging problem due to limited sensing capabilities and the difficulty of constructing accurate maps in underwater environments. In this paper, we propose a Diffusion-based Underwater Visual…

Neural fields excel in computer vision and robotics due to their ability to understand the 3D visual world such as inferring semantics, geometry, and dynamics. Given the capabilities of neural fields in densely representing a 3D scene from…