相关论文: BYE: Build Your Encoder with One Sequence of Explo…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Besides local features, global information plays an essential role in semantic segmentation, while recent works usually fail to explicitly extract the meaningful global information and make full use of it. In this paper, we propose a…

We present Flex, an efficient and effective scene encoder that addresses the computational bottleneck of processing high-volume multi-camera data in end-to-end autonomous driving. Flex employs a small set of learnable scene tokens to…

We introduce Perception Encoder (PE), a state-of-the-art vision encoder for image and video understanding trained via simple vision-language learning. Traditionally, vision encoders have relied on a variety of pretraining objectives, each…

Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

Scene-agnostic visual inpainting remains very challenging despite progress in patch-based methods. Recently, Pathak et al. 2016 have introduced convolutional "context encoders" (CEs) for unsupervised feature learning through image…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

The analysis of events in dynamic environments poses a fundamental challenge in the development of intelligent agents and robots capable of interacting with humans. Current approaches predominantly utilize visual models. However, these…

Visual relationship detection aims to identify objects and their relationships in images. Prior methods approach this task by adding separate relationship modules or decoders to existing object detection architectures. This separation…

Scene understanding includes many related sub-tasks, such as scene categorization, depth estimation, object detection, etc. Each of these sub-tasks is often notoriously hard, and state-of-the-art classifiers already exist for many of them.…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…

Accurate and reliable spatial and motion information plays a pivotal role in autonomous driving systems. However, object-level perception models struggle with handling open scenario categories and lack precise intrinsic geometry. On the…

Most existing vision encoders map images into a fixed-length sequence of tokens, overlooking the fact that different images contain varying amounts of information. For example, a visually complex image (e.g., a cluttered room) inherently…

Scene-understanding is an important topic in the area of Computer Vision, and illustrates computational challenges with applications to a wide range of domains including remote sensing, surveillance, smart agriculture, robotics, autonomous…

How to learn discriminative video representation from unlabeled videos is challenging but crucial for video analysis. The latest attempts seek to learn a representation model by predicting the appearance contents in the masked regions.…

Enhancing images in low-light scenes is a challenging but widely concerned task in the computer vision. The mainstream learning-based methods mainly acquire the enhanced model by learning the data distribution from the specific scenes,…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

In the field of autonomous driving, end-to-end deep learning models show great potential by learning driving decisions directly from sensor data. However, training these models requires large amounts of labeled data, which is time-consuming…