相关论文: Toward General Object-level Mapping from Sparse Vi…

Recently, 3D LiDAR has emerged as a promising technique in the field of gait-based person identification, serving as an alternative to traditional RGB cameras, due to its robustness under varying lighting conditions and its ability to…

In this work, we investigate the domain generalization capabilities of diffusion models in the context of synthesizing images that are distinct from the training data. Instead of fine-tuning, we tackle this challenge from a sampling-based…

We combine neural rendering with multi-modal image and text representations to synthesize diverse 3D objects solely from natural language descriptions. Our method, Dream Fields, can generate the geometry and color of a wide range of objects…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects and when attempting to generalize to new environments solely…

We study the hard problem of 3D object segmentation in complex point clouds without requiring human labels of 3D scenes for supervision. By relying on the similarity of pretrained 2D features or external signals such as motion to group 3D…

Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…

Diffusion-based voxel prior modelling is challenging for the reconstruction of large-scale 3D porous microstructures. Due to the demanding requirements for simultaneously modelling both the continuous pore morphology and the discrete…

This paper's primary objective is to develop a robust generalist perception model capable of addressing multiple tasks under constraints of computational resources and limited training data. We leverage text-to-image diffusion models…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

World-wide detailed 2D maps require enormous collective efforts. OpenStreetMap is the result of 11 million registered users manually annotating the GPS location of over 1.75 billion entries, including distinctive landmarks and common urban…

Transparent and specular objects are frequently encountered in daily life, factories, and laboratories. However, due to the unique optical properties, the depth information on these objects is usually incomplete and inaccurate, which poses…

We propose DepR, a depth-guided single-view scene reconstruction framework that integrates instance-level diffusion within a compositional paradigm. Instead of reconstructing the entire scene holistically, DepR generates individual objects…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

As the number of installed cameras grows, so do the compute resources required to process and analyze all the images captured by these cameras. Video analytics enables new use cases, such as smart cities or autonomous driving. At the same…