相关论文: LiDARFormer: A Unified Transformer-based Multi-tas…

While transformers have shown great potential on video recognition with their strong capability of capturing long-range dependencies, they often suffer high computational costs induced by the self-attention to the huge number of 3D tokens.…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

Human fashion understanding is one crucial computer vision task since it has comprehensive information for real-world applications. This focus on joint human fashion segmentation and attribute recognition. Contrary to the previous works…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Pedestrian attribute recognition (PAR) has received increasing attention because of its wide application in video surveillance and pedestrian analysis. Extracting robust feature representation is one of the key challenges in this task. The…

This paper introduces an approach, named DFormer, for universal image segmentation. The proposed DFormer views universal image segmentation task as a denoising process using a diffusion model. DFormer first adds various levels of Gaussian…

Traditional deep learning methods in medical imaging often focus solely on segmentation or classification, limiting their ability to leverage shared information. Multi-task learning (MTL) addresses this by combining both tasks through…

Understanding user intent is essential for situational and context-aware decision-making. Motivated by a real-world scenario, this work addresses intent predictions of smart device users in the vicinity of vehicles by modeling sequential…

Multi-task scene understanding aims to design models that can simultaneously predict several scene understanding tasks with one versatile model. Previous studies typically process multi-task features in a more local way, and thus cannot…

The performance of perception systems developed for autonomous driving vehicles has seen significant improvements over the last few years. This improvement was associated with the increasing use of LiDAR sensors and point cloud data to…

The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…

In this work, we introduce the Prototypical Transformer (ProtoFormer), a general and unified framework that approaches various motion tasks from a prototype perspective. ProtoFormer seamlessly integrates prototype learning with Transformer…

Motion prediction plays an important role in autonomous driving. This study presents LMFormer, a lane-aware transformer network for trajectory prediction tasks. In contrast to previous studies, our work provides a simple mechanism to…

It is a challenging task to learn discriminative representation from images and videos, due to large local redundancy and complex global dependency in these visual data. Convolution neural networks (CNNs) and vision transformers (ViTs) have…

In this work, we introduce FaceXFormer, an end-to-end unified transformer model capable of performing ten facial analysis tasks within a single framework. These tasks include face parsing, landmark detection, head pose estimation, attribute…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

Multimodal learning aims to build models that can process and relate information from multiple modalities. Despite years of development in this field, it still remains challenging to design a unified network for processing various…