相关论文: OFVL-MS: Once for Visual Localization across Multi…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Recently, with the prevalence of large-scale image dataset, the co-occurrence information among classes becomes rich, calling for a new way to exploit it to facilitate inference. In this paper, we propose Obj-GloVe, a generic scene-based…

Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…

Scene understanding is crucial for autonomous systems which intend to operate in the real world. Single task vision networks extract information only based on some aspects of the scene. In multi-task learning (MTL), on the other hand, these…

Instance Segmentation, which seeks to obtain both class and instance labels for each pixel in the input image, is a challenging task in computer vision. State-of-the-art algorithms often employ two separate stages, the first one generating…

An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…

Recent advancements in pre-trained vision-language models, such as CLIP, have enabled the segmentation of arbitrary concepts solely from textual inputs, a process commonly referred to as open-vocabulary semantic segmentation (OVS). However,…

The objective of this paper is self-supervised learning of video object segmentation. We develop a unified framework which simultaneously models cross-frame dense correspondence for locally discriminative feature learning and embeds…

In recent years, text-image joint pre-training techniques have shown promising results in various tasks. However, in Optical Character Recognition (OCR) tasks, aligning text instances with their corresponding text regions in images poses a…

In this paper, we introduce MVSparse, a novel and efficient framework for cooperative multi-person tracking across multiple synchronized cameras. The MVSparse system is comprised of a carefully orchestrated pipeline, combining edge…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

In Multi-Task Learning (MTL), it is a common practice to train multi-task networks by optimizing an objective function, which is a weighted average of the task-specific objective functions. Although the computational advantages of this…

Intermediate features at different layers of a deep neural network are known to be discriminative for visual patterns of different complexities. However, most existing works ignore such cross-layer heterogeneities when classifying samples…

Research on 3D Vision-Language Models (3D-VLMs) is gaining increasing attention, which is crucial for developing embodied AI within 3D scenes, such as visual navigation and embodied question answering. Due to the high density of visual…

Cross-view geo-localization aims to match images of the same target from different platforms, e.g., drone and satellite. It is a challenging task due to the changing appearance of targets and environmental content from different views. Most…

Many indoor workspaces are quasi-static: global layout is stable but local semantics change continually, producing repetitive geometry, dynamic clutter, and perceptual noise that defeat vision-based localization. We present ShelfAware, a…

General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often realized as isolated predictions that localize objects, parts,…

Advances in computing have enabled widespread access to pose estimation, creating new sources of data streams. Unlike mock set-ups for data collection, tapping into these data streams through on-device active learning allows us to directly…

Learning multiple domains/tasks with a single model is important for improving data efficiency and lowering inference cost for numerous vision tasks, especially on resource-constrained mobile devices. However, hand-crafting a…

Visual Place Recognition is a challenging task for robotics and autonomous systems, which must deal with the twin problems of appearance and viewpoint change in an always changing world. This paper introduces Patch-NetVLAD, which provides a…