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

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

In the field of medical imaging, AI-assisted techniques such as object detection, segmentation, and classification are widely employed to alleviate the workload of physicians and doctors. However, single-task models are predominantly used,…

We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Recent advances in vision transformers (ViTs) have achieved great performance in visual recognition tasks. Convolutional neural networks (CNNs) exploit spatial inductive bias to learn visual representations, but these networks are spatially…

Collaborative perception leverages rich visual observations from multiple robots to extend a single robot's perception ability beyond its field of view. Many prior works receive messages broadcast from all collaborators, leading to a…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale LiDAR registration methods has been rarely explored before. Challenges mainly arise from the huge point scale, complex point…

This report serves as a supplementary document for TaskPrompter, detailing its implementation on a new joint 2D-3D multi-task learning benchmark based on Cityscapes-3D. TaskPrompter presents an innovative multi-task prompting framework that…

Transformers have demonstrated remarkable performance in natural language processing and computer vision. However, existing vision Transformers struggle to learn from limited medical data and are unable to generalize on diverse medical…

LiDAR segmentation is crucial for autonomous driving perception. Recent trends favor point- or voxel-based methods as they often yield better performance than the traditional range view representation. In this work, we unveil several key…

Semantic segmentation of remotely sensed urban scene images is required in a wide range of practical applications, such as land cover mapping, urban change detection, environmental protection, and economic assessment.Driven by rapid…

Transformer, the model of choice for natural language processing, has drawn scant attention from the medical imaging community. Given the ability to exploit long-term dependencies, transformers are promising to help atypical convolutional…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

Matching visible and near-infrared (NIR) images remains a significant challenge in remote sensing image fusion. The nonlinear radiometric differences between heterogeneous remote sensing images make the image matching task even more…

We study the joint learning of image-to-text and text-to-image generations, which are naturally bi-directional tasks. Typical existing works design two separate task-specific models for each task, which impose expensive design efforts. In…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Vision transformers have been applied successfully for image recognition tasks. There have been either multi-headed self-attention based (ViT \cite{dosovitskiy2020image}, DeIT, \cite{touvron2021training}) similar to the original work in…

Semantic segmentation has witnessed remarkable advancements with the adaptation of the Transformer architecture. Parallel to the strides made by the Transformer, CNN-based U-Net has seen significant progress, especially in high-resolution…