相关论文: Transformers in Unsupervised Structure-from-Motion

The advent of autonomous driving and advanced driver assistance systems necessitates continuous developments in computer vision for 3D scene understanding. Self-supervised monocular depth estimation, a method for pixel-wise distance…

Astounding results from Transformer models on natural language tasks have intrigued the vision community to study their application to computer vision problems. Among their salient benefits, Transformers enable modeling long dependencies…

Reconstructing a 3D object from a 2D image is a well-researched vision problem, with many kinds of deep learning techniques having been tried. Most commonly, 3D convolutional approaches are used, though previous work has shown…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Understanding the mechanisms underlying deep neural networks remains a fundamental challenge in machine learning and computer vision. One promising, yet only preliminarily explored approach, is feature inversion, which attempts to…

This survey explores the adaptation of visual transformer models in Autonomous Driving, a transition inspired by their success in Natural Language Processing. Surpassing traditional Recurrent Neural Networks in tasks like sequential image…

Transformers have demonstrated remarkable performance in natural language processing and computer vision. However, existing vision Transformers struggle to learn from limited medical data and are unable to generalize on diverse medical…

We introduce TransformerFusion, a transformer-based 3D scene reconstruction approach. From an input monocular RGB video, the video frames are processed by a transformer network that fuses the observations into a volumetric feature grid…

Transformers have achieved great success in natural language processing. Due to the powerful capability of self-attention mechanism in transformers, researchers develop the vision transformers for a variety of computer vision tasks, such as…

Visual segmentation seeks to partition images, video frames, or point clouds into multiple segments or groups. This technique has numerous real-world applications, such as autonomous driving, image editing, robot sensing, and medical…

The success of the transformer architecture in natural language processing has recently triggered attention in the computer vision field. The transformer has been used as a replacement for the widely used convolution operators, due to its…

While Structure-from-Motion (SfM) has seen much progress over the years, state-of-the-art systems are prone to failure when facing extreme viewpoint changes in low-overlap, low-parallax or high-symmetry scenarios. Because capturing images…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Moving object detection and segmentation from a single moving camera is a challenging task, requiring an understanding of recognition, motion and 3D geometry. Combining both recognition and reconstruction boils down to a fusion problem,…

Image-based 3D reconstruction is one of the most important tasks in Computer Vision with many solutions proposed over the last few decades. The objective is to extract metric information i.e. the geometry of scene objects directly from…

Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…

Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…

Transformer, first applied to the field of natural language processing, is a type of deep neural network mainly based on the self-attention mechanism. Thanks to its strong representation capabilities, researchers are looking at ways to…

Recurrent Neural Networks were, until recently, one of the best ways to capture the timely dependencies in sequences. However, with the introduction of the Transformer, it has been proven that an architecture with only attention-mechanisms…