相关论文: Joint 2D-3D Multi-Task Learning on Cityscapes-3D: …

While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from…

A unified model for 3D vision-language (3D-VL) understanding is expected to take various scene representations and perform a wide range of tasks in a 3D scene. However, a considerable gap exists between existing methods and such a unified…

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…

Human pose estimation and action recognition are related tasks since both problems are strongly dependent on the human body representation and analysis. Nonetheless, most recent methods in the literature handle the two problems separately.…

City models and height maps of urban areas serve as a valuable data source for numerous applications, such as disaster management or city planning. While this information is not globally available, it can be substituted by digital surface…

Multi-camera 3D object detection aims to detect and localize objects in 3D space using multiple cameras, which has attracted more attention due to its cost-effectiveness trade-off. However, these methods often struggle with the lack of…

Learning-based solutions for vision tasks require a large amount of labeled training data to ensure their performance and reliability. In single-task vision-based settings, inconsistency-based active learning has proven to be effective in…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…

Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Vision Transformers have shown great performance in single tasks such as classification and segmentation. However, real-world problems are not isolated, which calls for vision transformers that can perform multiple tasks concurrently.…

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…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

The rapid advancement of deep learning models often attributes to their ability to leverage massive training data. In contrast, such privilege has not yet fully benefited 3D deep learning, mainly due to the limited availability of…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

360 cameras capture the entire surrounding environment with a large FoV, exhibiting comprehensive visual information to directly infer the 3D structures, e.g., depth and surface normal, and semantic information simultaneously. Existing…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

In this work, we present Uni3DL, a unified model for 3D and Language understanding. Distinct from existing unified vision-language models in 3D which are limited in task variety and predominantly dependent on projected multi-view images,…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…