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

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…

3D point cloud understanding is an important component in autonomous driving and robotics. In this paper, we present a novel Embedding-Querying paradigm (EQ- Paradigm) for 3D understanding tasks including detection, segmentation, and…

The Residual Quantization (RQ) framework is revisited where the quantization distortion is being successively reduced in multi-layers. Inspired by the reverse-water-filling paradigm in rate-distortion theory, an efficient regularization on…

Visual Question Answering (VQA) has witnessed tremendous progress in recent years. However, most efforts only focus on the 2D image question answering tasks. In this paper, we present the first attempt at extending VQA to the 3D domain,…

3D shape anomaly detection is a crucial task for industrial inspection and geometric analysis. Existing deep learning approaches typically learn representations of normal shapes and identify anomalies via out-of-distribution feature…

Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which regions actually support, contain, or contact one another, leading…

Many query-based approaches for 3D Multi-Object Tracking (MOT) adopt the tracking-by-attention paradigm, utilizing track queries for identity-consistent detection and object queries for identity-agnostic track spawning.…

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…

Group regression is commonly used in 3D object detection to predict box parameters of similar classes in a joint head, aiming to benefit from similarities while separating highly dissimilar classes. For query-based perception methods, this…

Transformer architecture has been showing its great strength in visual object tracking, for its effective attention mechanism. Existing transformer-based approaches adopt the pixel-to-pixel attention strategy on flattened image features and…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

We propose a new visual hierarchical representation paradigm for multi-object tracking. It is more effective to discriminate between objects by attending to objects' compositional visual regions and contrasting with the background…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

Estimating the 3D shape of an object from a single or multiple images has gained popularity thanks to the recent breakthroughs powered by deep learning. Most approaches regress the full object shape in a canonical pose, possibly…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation.…