相关论文: Fine-grained Image-to-LiDAR Contrastive Distillati…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inherent heterogeneity between these modalities, including…

Recent multimodal models such as Contrastive Language-Image Pre-training (CLIP) have shown remarkable ability to align visual and linguistic representations. However, domains where small visual differences carry large semantic significance,…

Model compression and knowledge distillation have been successfully applied for cross-architecture and cross-domain transfer learning. However, a key requirement is that training examples are in correspondence across the domains. We show…

Data-Free Knowledge Distillation (DFKD) has shown great potential in creating a compact student model while alleviating the dependency on real training data by synthesizing surrogate data. However, prior arts are seldom discussed under…

Large vision-language contrastive models (VLCMs), such as CLIP, have become foundational, demonstrating remarkable success across a variety of downstream tasks. Despite their advantages, these models, akin to other foundational systems,…

Recognizing objects in low-resolution images is a challenging task due to the lack of informative details. Recent studies have shown that knowledge distillation approaches can effectively transfer knowledge from a high-resolution teacher…

Self-supervised image backbones can be used to address complex 2D tasks (e.g., semantic segmentation, object discovery) very efficiently and with little or no downstream supervision. Ideally, 3D backbones for lidar should be able to inherit…

Enabling Visual Semantic Models to effectively handle multi-view description matching has been a longstanding challenge. Existing methods typically learn a set of embeddings to find the optimal match for each view's text and compute…

Knowledge distillation enhances the performance of compact student networks by transferring knowledge from more powerful teacher networks without introducing additional parameters. In the feature space, local regions within an individual…

Pre-trained Vision-Language Models (VLMs) require Continual Learning (CL) to efficiently update their knowledge and adapt to various downstream tasks without retraining from scratch. However, for VLMs, in addition to the loss of knowledge…

Image and Point Clouds provide different information for robots. Finding the correspondences between data from different sensors is crucial for various tasks such as localization, mapping, and navigation. Learning-based descriptors have…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Unsupervised domain adaptation (UDA) is vital for alleviating the workload of labeling 3D point cloud data and mitigating the absence of labels when facing a newly defined domain. Various methods of utilizing images to enhance the…

Vision foundation models (VFMs) trained on large-scale image datasets provide high-quality features that have significantly advanced 2D visual recognition. However, their potential in 3D scene segmentation remains largely untapped, despite…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

Vision-Language Models (VLMs), such as CLIP, exhibit strong image-text comprehension abilities, facilitating advances in several downstream tasks such as zero-shot image classification, image-text retrieval, and text-to-image generation.…

Image-based object pose estimation sounds amazing because in real applications the shape of object is oftentimes not available or not easy to take like photos. Although it is an advantage to some extent, un-explored shape information in 3D…

Foundation models are transforming Earth Observation (EO), yet the diversity of EO sensors and modalities makes a single universal model unrealistic. Multiple specialized EO foundation models (EOFMs) will likely coexist, making efficient…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…