相关论文: Pixel-Aligned Recurrent Queries for Multi-View 3D …

Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…

We propose a lightweight and scalable Regional Point-Language Contrastive learning framework, namely \textbf{RegionPLC}, for open-world 3D scene understanding, aiming to identify and recognize open-set objects and categories. Specifically,…

We propose an attention-based approach for multimodal image patch matching using a Transformer encoder attending to the feature maps of a multiscale Siamese CNN. Our encoder is shown to efficiently aggregate multiscale image embeddings…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…

Recognizing multiple labels of images is a fundamental but challenging task in computer vision, and remarkable progress has been attained by localizing semantic-aware image regions and predicting their labels with deep convolutional neural…

In this paper, we investigate an open research task of cross-modal retrieval between 3D shapes and textual descriptions. Previous approaches mainly rely on point cloud encoders for feature extraction, which may ignore key inherent features…

Recently, transformer-based methods have dominated 3D instance segmentation, where mask attention is commonly involved. Specifically, object queries are guided by the initial instance masks in the first cross-attention, and then iteratively…

3D object detection algorithms for autonomous driving reason about 3D obstacles either from 3D birds-eye view or perspective view or both. Recent works attempt to improve the detection performance via mining and fusing from multiple…

Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

This paper improves upon the Pix2Seq object detector by extending it for videos. In the process, it introduces a new way to perform end-to-end video object detection that improves upon existing video detectors in two key ways. First, by…

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…

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on…

Learning 3D scene geometry and semantics from images is a core challenge in computer vision and a key capability for autonomous driving. Since large-scale 3D annotation is prohibitively expensive, recent work explores self-supervised…

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…

Simultaneous perception of 2D objects in perspective view and 3D objects in Bird's Eye View (BEV) is challenging for multi-camera autonomous driving. Existing two-stage pipelines use 2D results only as a one-time cue for 3D detection. We…