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

Image super-resolution (SR) has significantly advanced through the adoption of Transformer architectures. However, conventional techniques aimed at enlarging the self-attention window to capture broader contexts come with inherent…

Annotating 3D data remains a costly bottleneck for 3D object detection, motivating the development of weakly supervised annotation methods that rely on more accessible 2D box annotations. However, relying solely on 2D boxes introduces…

Semantic outdoor scene understanding based on 3D LiDAR point clouds is a challenging task for autonomous driving due to the sparse and irregular data structure. This paper takes advantages of the uneven range distribution of different LiDAR…

As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…

Large vision models (LVMs) have emerged as a foundational paradigm in visual intelligence, achieving state-of-the-art performance across diverse visual tasks. Recent advances in LVMs have facilitated their integration into Internet of…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Vision-Language Model (VLM) have gained widespread adoption in Open-Vocabulary (OV) object detection and segmentation tasks. Despite they have shown promise on OV-related tasks, their effectiveness in conventional vision tasks has thus far…

Remote sensing change detection aims to localize and characterize scene changes between two time points and is central to applications such as environmental monitoring and disaster assessment. Meanwhile, visual autoregressive models (VARs)…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

With the rapid advancement of Unmanned Aerial Vehicle (UAV) and computer vision technologies, object detection from UAV perspectives has emerged as a prominent research area. However, challenges for detection brought by the extremely small…

Inspired by the great success achieved by CNN in image recognition, view-based methods applied CNNs to model the projected views for 3D object understanding and achieved excellent performance. Nevertheless, multi-view CNN models cannot…

This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

Popular Transformer networks have been successfully applied to remote sensing (RS) image change detection (CD) identifications and achieve better results than most convolutional neural networks (CNNs), but they still suffer from two main…