相关论文: MoST: Multi-modality Scene Tokenization for Motion…

Reading irregular scene text of arbitrary shape in natural images is still a challenging problem, despite the progress made recently. Many existing approaches incorporate sophisticated network structures to handle various shapes, use extra…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

With the development of robotics, skeleton-based action recognition has become increasingly important, as human-robot interaction requires understanding the actions of humans and humanoid robots. Due to different sources of human skeletons…

We propose an architecture and training scheme to predict video frames by explicitly modeling dis-occlusions and capturing the evolution of semantically consistent regions in the video. The scene layout (semantic map) and motion (optical…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

Image captioning aims to automatically generate a natural language description of a given image, and most state-of-the-art models have adopted an encoder-decoder framework. The framework consists of a convolution neural network (CNN)-based…

The autonomous driving industry is increasingly adopting end-to-end learning from sensory inputs to minimize human biases in system design. Traditional end-to-end driving models, however, suffer from long-tail events due to rare or unseen…

Foundation models have indeed made a profound impact on various fields, emerging as pivotal components that significantly shape the capabilities of intelligent systems. In the context of intelligent vehicles, leveraging the power of…

This paper considers semantic forecasting in road-driving scenes. Most existing approaches address this problem as deterministic regression of future features or future predictions given observed frames. However, such approaches ignore the…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Recent models for cross-modal retrieval have benefited from an increasingly rich understanding of visual scenes, afforded by scene graphs and object interactions to mention a few. This has resulted in an improved matching between the visual…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Prior motion generation largely follows two paradigms: continuous diffusion models that excel at kinematic control, and discrete token-based generators that are effective for semantic conditioning. To combine their strengths, we propose a…

For robotic agents operating in dynamic environments, learning visual state representations from streaming video observations is essential for sequential decision making. Recent self-supervised learning methods have shown strong…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…