相关论文: MsSVT++: Mixed-scale Sparse Voxel Transformer with…

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various…

Due to the success of Bidirectional Encoder Representations from Transformers (BERT) in natural language process (NLP), the multi-head attention transformer has been more and more prevalent in computer-vision researches (CV). However, it…

We propose OpenVoxel, a training-free algorithm for grouping and captioning sparse voxels for the open-vocabulary 3D scene understanding tasks. Given the sparse voxel rasterization (SVR) model obtained from multi-view images of a 3D scene,…

Most of the existing bi-modal (RGB-D and RGB-T) salient object detection methods utilize the convolution operation and construct complex interweave fusion structures to achieve cross-modal information integration. The inherent local…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…

Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

Recent advancements in learning-based Multi-View Stereo (MVS) methods have prominently featured transformer-based models with attention mechanisms. However, existing approaches have not thoroughly investigated the profound influence of…

Monocular Semantic Scene Completion (SSC) aims to reconstruct complete 3D semantic scenes from a single RGB image, offering a cost-effective solution for autonomous driving and robotics. However, the inherently imbalanced nature of voxel…

Recent deep multi-view stereo (MVS) methods have widely incorporated transformers into cascade network for high-resolution depth estimation, achieving impressive results. However, existing transformer-based methods are constrained by their…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

While features of different scales are perceptually important to visual inputs, existing vision transformers do not yet take advantage of them explicitly. To this end, we first propose a cross-scale vision transformer, CrossFormer. It…

Place recognition based on point clouds (LiDAR) is an important component for autonomous robots or self-driving vehicles. Current SOTA performance is achieved on accumulated LiDAR submaps using either point-based or voxel-based structures.…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

Vertex hunting (VH) is the task of estimating a simplex from noisy data points and has many applications in areas such as network and text analysis. We introduce a new variant, semi-supervised vertex hunting (SSVH), in which partial…

Recent advancements in open-vocabulary 3D scene understanding heavily rely on 3D Gaussian Splatting (3DGS) to register vision-language features into 3D space. However, we identify two critical limitations in these approaches: the spatial…

Sparse support vector machine (SVM) is a popular classification technique that can simultaneously learn a small set of the most interpretable features and identify the support vectors. It has achieved great successes in many real-world…