相关论文: MiKASA: Multi-Key-Anchor & Scene-Aware Transformer…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide model learning. This setting presents two primary challenges:…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

Understanding natural-language references to objects in dynamic 3D driving scenes is essential for interactive autonomous systems. In practice, many referring expressions describe targets through recent motion or short-term interactions,…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

As an important step towards visual reasoning, visual grounding (e.g., phrase localization, referring expression comprehension/segmentation) has been widely explored Previous approaches to referring expression comprehension (REC) or…

One-shot transfer of dexterous grasps to novel scenes with object and context variations has been a challenging problem. While distilled feature fields from large vision models have enabled semantic correspondences across 3D scenes, their…

Aiming to link natural language descriptions to specific regions in a 3D scene represented as 3D point clouds, 3D visual grounding is a very fundamental task for human-robot interaction. The recognition errors can significantly impact the…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Despite radar's popularity in the automotive industry, for fusion-based 3D object detection, most existing works focus on LiDAR and camera fusion. In this paper, we propose TransCAR, a Transformer-based Camera-And-Radar fusion solution for…

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…

OCR-based image captioning is an important but under-explored task, aiming to generate descriptions containing visual objects and scene text. Recent studies have made encouraging progress, but they are still suffering from a lack of overall…

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system…

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…

We present Multi-View Attentive Contextualization (MvACon), a simple yet effective method for improving 2D-to-3D feature lifting in query-based multi-view 3D (MV3D) object detection. Despite remarkable progress witnessed in the field of…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Despite a growing number of datasets being collected for training 3D object detection models, significant human effort is still required to annotate 3D boxes on LiDAR scans. To automate the annotation and facilitate the production of…

When connecting objects and their language referents in an embodied 3D environment, it is important to note that: (1) an object can be better characterized by leveraging comparative information between itself and other objects, and (2) an…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…