相关论文: ZOPP: A Framework of Zero-shot Offboard Panoptic P…

3D object detection is fundamental for spatial understanding. Real-world environments demand models capable of recognizing diverse, previously unseen objects, which remains a major limitation of closed-set methods. Existing open-vocabulary…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Panoptic perception represents a forefront advancement in autonomous driving technology, unifying multiple perception tasks into a singular, cohesive framework to facilitate a thorough understanding of the vehicle's surroundings. This…

We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. Traditional reliance on labeled data has been a limitation…

Zero-shot 3D part segmentation is a challenging and fundamental task. In this work, we propose a novel pipeline, ZeroPS, which achieves high-quality knowledge transfer from 2D pretrained foundation models (FMs), SAM and GLIP, to 3D object…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

How can models effectively detect out-of-distribution (OOD) samples in complex, multi-label settings without extensive retraining? Existing OOD detection methods struggle to capture the intricate semantic relationships and label…

Accurate 3D scene motion perception significantly enhances the safety and reliability of an autonomous driving system. Benefiting from its all-weather operational capability and unique perceptual properties, 4D mmWave radar has emerged as…

Zero-shot learning for visual recognition, e.g., object and action recognition, has recently attracted a lot of attention. However, it still remains challenging in bridging the semantic gap between visual features and their underlying…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Existing offboard 3D detectors always follow a modular pipeline design to take advantage of unlimited sequential point clouds. We have found that the full potential of offboard 3D detectors is not explored mainly due to two reasons: (1) the…

Zero-shot recognition aims to accurately recognize objects of unseen classes by using a shared visual-semantic mapping between the image feature space and the semantic embedding space. This mapping is learned on training data of seen…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

We present ZeroComp, an effective zero-shot 3D object compositing approach that does not require paired composite-scene images during training. Our method leverages ControlNet to condition from intrinsic images and combines it with a Stable…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…