相关论文: MGMap: Mask-Guided Learning for Online Vectorized …

High-definition maps (HD maps) play a crucial role in the development, safety validation, and operation of highly automated vehicles. Efficiently collecting up-to-date sensor data from road segments and obtaining accurate maps from these…

For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…

Masked Autoencoders is a simple yet powerful self-supervised learning method. However, it learns representations indirectly by reconstructing masked input patches. Several methods learn representations directly by predicting representations…

Detecting and segmenting novel object instances in open-world environments is a fundamental problem in robotic perception. Given only a small set of template images, a robot must locate and segment a specific object instance in a cluttered,…

Predicting masked from visible parts of an image is a powerful self-supervised approach for visual representation learning. However, the common practice of masking random patches of pixels exhibits certain failure modes, which can prevent…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Promptable segmentation has emerged as a powerful paradigm in computer vision, enabling users to guide models in parsing complex scenes with prompts such as clicks, boxes, or textual cues. Recent advances, exemplified by the Segment…

Large Multimodal Models (LMMs) have achieved significant progress by extending large language models. Building on this progress, the latest developments in LMMs demonstrate the ability to generate dense pixel-wise segmentation through the…

Masked image modeling (MIM) has been recognized as a strong self-supervised pre-training approach in the vision domain. However, the mechanism and properties of the learned representations by such a scheme, as well as how to further enhance…

Attribution map visualization has arisen as one of the most effective techniques to understand the underlying inference process of Convolutional Neural Networks. In this task, the goal is to compute an score for each image pixel related…

We present VMap, a map-like rectangular space-filling visualization, to perform vertex-centric graph exploration. Existing visualizations have limited support for quality optimization among rectangular aspect ratios, vertex-edge…

Weakly supervised methods usually generate localization results based on attention maps produced by classification networks. However, the attention maps exhibit the most discriminative parts of the object which are small and sparse. We…

Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…

Graph masked autoencoders (GMAE) have emerged as a significant advancement in self-supervised pre-training for graph-structured data. Previous GMAE models primarily utilize a straightforward random masking strategy for nodes or edges during…

The attributes of object contours has great significance for instance segmentation task. However, most of the current popular deep neural networks do not pay much attention to the object edge information. Inspired by the human annotation…

Online high-definition (HD) map construction is an important and challenging task in autonomous driving. Recently, there has been a growing interest in cost-effective multi-view camera-based methods without relying on other sensors like…

Pre-trained Vision-Language Models (VLMs), like CLIP, exhibit strong generalization ability to downstream tasks but struggle in few-shot scenarios. Existing prompting techniques primarily focus on global text and image representations, yet…

The use of self-supervised pre-training has emerged as a promising approach to enhance the performance of many different visual tasks. In this context, recent approaches have employed the Masked Image Modeling paradigm, which pre-trains a…