相关论文: Multimodal Foundational Models for Unsupervised 3D…

Analysis of the 3D Texture is indispensable for various tasks, such as retrieval, segmentation, classification, and inspection of sculptures, knitted fabrics, and biological tissues. A 3D texture is a locally repeated surface variation…

Realizing unified 3D object detection, including both indoor and outdoor scenes, holds great importance in applications like robot navigation. However, involving various scenarios of data to train models poses challenges due to their…

Outlier detection is a key field of machine learning for identifying abnormal data objects. Due to the high expense of acquiring ground truth, unsupervised models are often chosen in practice. To compensate for the unstable nature of…

Traditional semi-supervised object detection methods assume a fixed set of object classes (in-distribution or ID classes) during training and deployment, which limits performance in real-world scenarios where unseen classes…

In this work, we build a modular-designed codebase, formulate strong training recipes, design an error diagnosis toolbox, and discuss current methods for image-based 3D object detection. In particular, different from other highly mature…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

Training a generalizable 3D part segmentation network is quite challenging but of great importance in real-world applications. To tackle this problem, some works design task-specific solutions by translating human understanding of the task…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

In contrast to numerous NLP and 2D vision foundational models, learning a 3D foundational model poses considerably greater challenges. This is primarily due to the inherent data variability and diversity of downstream tasks. In this paper,…

This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

In the anomaly detection setting, the native feature embedding can be a crucial source of bias. We present a technique, Feature Omission using Context in Unsupervised Settings (FOCUS) to learn a feature mapping that is invariant to changes…

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

In one-class-learning tasks, only the normal case (foreground) can be modeled with data, whereas the variation of all possible anomalies is too erratic to be described by samples. Thus, due to the lack of representative data, the…

Amodal perception, the ability to comprehend complete object structures from partial visibility, is a fundamental skill, even for infants. Its significance extends to applications like autonomous driving, where a clear understanding of…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…