相关论文: FFAM: Feature Factorization Activation Map for Exp…

3D object detection using LiDAR data remains a key task for applications like autonomous driving and robotics. Unlike in the case of 2D images, LiDAR data is almost always collected over a period of time. However, most work in this area has…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…

The primary challenge in Video Object Detection (VOD) is effectively exploiting temporal information to enhance object representations. Traditional strategies, such as aggregating region proposals, often suffer from feature variance due to…

Facial Attribute Manipulation (FAM) aims to aesthetically modify a given face image to render desired attributes, which has received significant attention due to its broad practical applications ranging from digital entertainment to…

We propose a novel, vision-only object-level SLAM framework for automotive applications representing 3D shapes by implicit signed distance functions. Our key innovation consists of augmenting the standard neural representation by a…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

The inherent noisy and sparse characteristics of radar data pose challenges in finding effective representations for 3D object detection. In this paper, we propose RadarDistill, a novel knowledge distillation (KD) method, which can improve…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

This paper presents a feature encoding method of complex 3D objects for high-level semantic features. Recent approaches to object recognition methods become important for semantic simultaneous localization and mapping (SLAM). However, there…

Recent work in 3D scene understanding is moving beyond purely spatial analysis toward functional scene understanding. However, existing methods often consider functional relationships between object pairs in isolation, failing to capture…

We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…

Recently, the explanation of neural network models has garnered considerable research attention. In computer vision, CAM (Class Activation Map)-based methods and LRP (Layer-wise Relevance Propagation) method are two common explanation…

Although point cloud models have gained significant improvements in prediction accuracy over recent years, their trustworthiness is still not sufficiently investigated. In terms of global explainability, Activation Maximization (AM)…

Recommendation systems and computing advertisements have gradually entered the field of academic research from the field of commercial applications. Click-through rate prediction is one of the core research issues because the prediction…

Data series classification is an important and challenging problem in data science. Explaining the classification decisions by finding the discriminant parts of the input that led the algorithm to some decisions is a real need in many…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…