相关论文: Leveraging Vision-Centric Multi-Modal Expertise fo…
This paper proposes a cross-modal distillation framework, PartDistill, which transfers 2D knowledge from vision-language models (VLMs) to facilitate 3D shape part segmentation. PartDistill addresses three major challenges in this task: the…
Online HD map construction is a fundamental task in autonomous driving systems, aiming to acquire semantic information of map elements around the ego vehicle based on real-time sensor inputs. Recently, several approaches have achieved…
Object detection has achieved remarkable accuracy through deep learning, yet these improvements often come with increased computational cost, limiting deployment on resource-constrained devices. Knowledge Distillation (KD) provides an…
In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…
The utilization of multi-modal sensor data in visual place recognition (VPR) has demonstrated enhanced performance compared to single-modal counterparts. Nonetheless, integrating additional sensors comes with elevated costs and may not be…
As a general model compression paradigm, feature-based knowledge distillation allows the student model to learn expressive features from the teacher counterpart. In this paper, we mainly focus on designing an effective feature-distillation…
Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…
In this study, we aim to predict the plausible future action steps given an observation of the past and study the task of instructional activity anticipation. Unlike previous anticipation tasks that aim at action label prediction, our work…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…
Multimodal image matching seeks pixel-level correspondences between images of different modalities, crucial for cross-modal perception, fusion and analysis. However, the significant appearance differences between modalities make this task…
Knowledge distillation is an effective method for training small and efficient deep learning models. However, the efficacy of a single method can degenerate when transferring to other tasks, modalities, or even other architectures. To…
Event cameras offer superior sensitivity to high-speed motion and extreme lighting, making event-based monocular depth estimation a promising approach for robust 3D perception in challenging conditions. However, progress is severely…
While diffusion models have demonstrated remarkable progress in 2D image generation and editing, extending these capabilities to 3D editing remains challenging, particularly in maintaining multi-view consistency. Classical approaches…
Online High-Definition (HD) map construction is a key component of autonomous driving. Recent methods rely on multi-view camera images for cost-effective HD map segmentation, but cameras lack depth information for accurate scene geometry.…
Image modality is not perfect as it often fails in certain conditions, e.g., night and fast motion. This significantly limits the robustness and versatility of existing multi-modal (i.e., Image+X) semantic segmentation methods when…
Visual encoders are fundamental components in vision-language models (VLMs), each showcasing unique strengths derived from various pre-trained visual foundation models. To leverage the various capabilities of these encoders, recent studies…
Video object segmentation is a fundamental research problem in computer vision. Recent techniques have often applied attention mechanism to object representation learning from video sequences. However, due to temporal changes in the video…
The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…
Event cameras capture sparse, high-temporal-resolution visual information, making them particularly suitable for challenging environments with high-speed motion and strongly varying lighting conditions. However, the lack of large datasets…
Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…