相关论文: Small, Versatile and Mighty: A Range-View Percepti…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…

This article presents a novel framework for real-time Light Detection and Ranging (LiDAR) data transmission that leverages rate-adaptive technologies and point cloud encoding methods to ensure low-latency, and low-loss data streaming. The…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Large Multimodal Model (LMM) is a hot research topic in the computer vision area and has also demonstrated remarkable potential across multiple disciplinary fields. A recent trend is to further extend and enhance the perception capabilities…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

LiDAR-based 3D object detection is of paramount importance for autonomous driving. Recent trends show a remarkable improvement for bird's-eye-view (BEV) based and point-based methods as they demonstrate superior performance compared to…

Achieving pixel-level segmentation with low computational cost using multimodal data remains a key challenge in crack segmentation tasks. Existing methods lack the capability for adaptive perception and efficient interactive fusion of…

Existing Mamba-based approaches in remote sensing change detection have enhanced scanning models, yet remain limited by their inability to capture long-range dependencies between image channels effectively, which restricts their feature…

Ensuring reliable autonomous operation when visual input is degraded remains a key challenge in intelligent vehicles and robotics. We present DepthVision, a multimodal framework that enables Vision--Language Models (VLMs) to exploit LiDAR…

Large Vision-Language Models (VLMs) excel at understanding and generating video descriptions but their high memory, computation, and deployment demands hinder practical use particularly for blind and low-vision (BLV) users who depend on…

Infrared small target detection (IRSTD) is thus critical in both civilian and military applications. This study addresses the challenge of precisely IRSTD in complex backgrounds. Recent methods focus fundamental reliance on conventional…

Vision Transformer (ViT) has demonstrated significant potential in various vision tasks due to its strong ability in modelling long-range dependencies. However, such success is largely fueled by training on massive samples. In real…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

3D single-photon LiDAR imaging plays an important role in numerous applications. However, long acquisition times and significant data volumes present a challenge to LiDAR imaging. This paper proposes a task-optimized adaptive sampling…