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

Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a…

Hyperspectral image classification (HSIC) has gained significant attention because of its potential in analyzing high-dimensional data with rich spectral and spatial information. In this work, we propose the Differential Spatial-Spectral…

We present Laneformer, a conceptually simple yet powerful transformer-based architecture tailored for lane detection that is a long-standing research topic for visual perception in autonomous driving. The dominant paradigms rely on purely…

In recent years, many video tasks have achieved breakthroughs by utilizing the vision transformer and establishing spatial-temporal decoupling for feature extraction. Although multi-view 3D reconstruction also faces multiple images as…

We present a conceptually simple, flexible, and universal visual perception head for variant visual tasks, e.g., classification, object detection, instance segmentation and pose estimation, and different frameworks, such as one-stage or…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

We investigate a new paradigm that uses differentiable SLAM architectures in a self-supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work…

Graph Transformers (GTs) have emerged as a powerful paradigm for graph representation learning due to their ability to model diverse node interactions. However, existing GTs often rely on intricate architectural designs tailored to specific…

Accurate 3D object detection is essential for ensuring the safety of autonomous vehicles. Cooperative perception, which leverages vehicle-to-everything (V2X) communication to share perceptual data, enhances detection but is vulnerable to…

Recent advancements in Multimodal Large Language Models (MLLMs) have revolutionized the field of vision-language understanding by integrating visual perception capabilities into Large Language Models (LLMs). The prevailing trend in this…

Novel view synthesis is a long-standing problem. In this work, we consider a variant of the problem where we are given only a few context views sparsely covering a scene or an object. The goal is to predict novel viewpoints in the scene,…

The LiDAR-based multi-agent and single-agent perception has shown promising performance in environmental understanding for robots and automated vehicles. However, there is no existing method that simultaneously solves both multi-agent and…

This paper presents an innovative application of Transformer-XL for long sequence tasks in robotic learning from demonstrations (LfD). The proposed framework effectively integrates multi-modal sensor inputs, including RGB-D images, LiDAR,…

This work aims to tackle the all-in-one image restoration task, which seeks to handle multiple types of degradation with a single model. The primary challenge is to extract degradation representations from the input degraded images and use…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

Due to various and complicated snow degradations, single image desnowing is a challenging image restoration task. As prior arts can not handle it ideally, we propose a novel transformer, SnowFormer, which explores efficient cross-attentions…

Object parts serve as crucial intermediate representations in various downstream tasks, but part-level representation learning still has not received as much attention as other vision tasks. Previous research has established that Vision…

Despite the tremendous progress in zero-shot learning(ZSL), the majority of existing methods still rely on human-annotated attributes, which are difficult to annotate and scale. An unsupervised alternative is to represent each class using…

Due to the difficulty of acquiring large-scale 3D human keypoint annotation, previous methods for 3D human pose estimation (HPE) have often relied on 2D image features and sequential 2D annotations. Furthermore, the training of these…