相关论文: Grid-augmented vision: A simple yet effective appr…

In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…

Transformer architectures rely on explicit position encodings in order to preserve a notion of word order. In this paper, we argue that existing work does not fully utilize position information. For example, the initial proposal of a…

With the ongoing emergence of smart and distributed grids, it becomes increasingly important to understand as well as improve legacy infrastructure while operating a much more interconnected and fragile architecture. To support this…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Existing approaches to vision-language pre-training (VLP) heavily rely on an object detector based on bounding boxes (regions), where salient objects are first detected from images and then a Transformer-based model is used for cross-modal…

Multimodal Large Language Models have advanced AI in applications like text-to-video generation and visual question answering. These models rely on visual encoders to convert non-text data into vectors, but current encoders either lack…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…

Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-grounded vision models, such as VGGT~\cite{wang2025vggt},…

Although reinforcement learning has been successfully applied in many domains in recent years, we still lack agents that can systematically generalize. While relational inductive biases that fit a task can improve generalization of RL…

Multimodal large language models (MLLMs) have achieved significant progress in image and language tasks due to the strong reasoning capability of large language models (LLMs). Nevertheless, most MLLMs suffer from limited spatial reasoning…

Graph Transformers, which incorporate self-attention and positional encoding, have recently emerged as a powerful architecture for various graph learning tasks. Despite their impressive performance, the complex non-convex interactions…

Most approaches for semantic segmentation use only information from color cameras to parse the scenes, yet recent advancements show that using depth data allows to further improve performances. In this work, we focus on transformer-based…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

We introduce an object-aware decoder for improving the performance of spatio-temporal representations on ego-centric videos. The key idea is to enhance object-awareness during training by tasking the model to predict hand positions, object…

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which…