相关论文: VisionPAD: A Vision-Centric Pre-training Paradigm …

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Generating multi-view videos for autonomous driving training has recently gained much attention, with the challenge of addressing both cross-view and cross-frame consistency. Existing methods typically apply decoupled attention mechanisms…

Recently, great progress has been made in 3D deep learning with the emergence of deep neural networks specifically designed for 3D point clouds. These networks are often trained from scratch or from pre-trained models learned purely from…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Predicting future trajectories for other road agents is an essential task for autonomous vehicles. Established trajectory prediction methods primarily use agent tracks generated by a detection and tracking system and HD map as inputs. In…

Recent advances in driving-scene generation and reconstruction have demonstrated significant potential for enhancing autonomous driving systems by producing scalable and controllable training data. Existing generation methods primarily…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

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…

The automatic reconstruction of 3D computer-aided design (CAD) models from CAD sketches has recently gained significant attention in the computer vision community. Most existing methods, however, rely on vector CAD sketches and 3D ground…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

End-to-end autonomous driving systems built on Vision Language Models (VLMs) have shown significant promise, yet their reliance on autoregressive architectures introduces some limitations for real-world applications. The sequential,…

Accurate 7DoF prediction of vehicles at an intersection is an important task for assessing potential conflicts between road users. In principle, this could be achieved by a single camera system that is capable of detecting the pose of each…

Unsupervised visual anomaly detection from multi-view images presents a significant challenge: distinguishing genuine defects from benign appearance variations caused by viewpoint changes. Existing methods, often designed for single-view…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Gaussian Splatting has achieved remarkable progress in multi-view surface reconstruction, yet it exhibits notable degradation when only few views are available. Although recent efforts alleviate this issue by enhancing multi-view…

Visual-language reasoning, driving knowledge, and value alignment are essential for advanced autonomous driving systems. However, existing approaches largely rely on data-driven learning, making it difficult to capture the complex logic…

Novel view synthesis of urban scenes is essential for autonomous driving-related applications.Existing NeRF and 3DGS-based methods show promising results in achieving photorealistic renderings but require slow, per-scene optimization. We…

A video autoencoder is proposed for learning disentan- gled representations of 3D structure and camera pose from videos in a self-supervised manner. Relying on temporal continuity in videos, our work assumes that the 3D scene structure in…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…