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There are two challenges presented in parsing road scenes from UAV images: the complexity of processing high-resolution images and the dependency on extensive manual annotations required by traditional supervised deep learning methods to…

Self-supervised 3D representation learning aims to learn effective representations from large-scale unlabeled point clouds. Most existing approaches adopt point discrimination as the pretext task, which assigns matched points in two…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…

Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and…

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…

Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints…

The limited scale of current 3D shape datasets hinders the advancements in 3D shape understanding, and motivates multi-modal learning approaches which transfer learned knowledge from data-abundant 2D image and language modalities to 3D…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Domain gaps of sensor modalities pose a challenge for the design of autonomous robots. Taking a step towards closing this gap, we propose two unsupervised training frameworks for finding a common representation of LiDAR and camera data. The…

LiDAR data pretraining offers a promising approach to leveraging large-scale, readily available datasets for enhanced data utilization. However, existing methods predominantly focus on sparse voxel representation, overlooking the…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

Capturing high dynamic range (HDR) images (videos) is attractive because it can reveal the details in both dark and bright regions. Since the mainstream screens only support low dynamic range (LDR) content, tone mapping algorithm is…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

Masked image modeling (MIM) has emerged as a promising approach for pre-training Vision Transformers (ViTs). MIMs predict masked tokens token-wise to recover target signals that are tokenized from images or generated by pre-trained models…