相关论文: Learning A Zero-shot Occupancy Network from Vision…

In perception for automated vehicles, safety is critical not only for the driver but also for other agents in the scene, particularly vulnerable road users such as pedestrians and cyclists. Previous representation methods, such as Bird's…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation models have enabled zero-shot object goal navigation,…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…

The widespread use of cameras in our society has created an overwhelming amount of video data, far exceeding the capacity for human monitoring. This presents a critical challenge for public safety and security, as the timely detection of…

3D occupancy prediction holds significant promise in the fields of robot perception and autonomous driving, which quantifies 3D scenes into grid cells with semantic labels. Recent works mainly utilize complete occupancy labels in 3D voxel…

Large-scale vision foundation models such as Segment Anything (SAM) demonstrate impressive performance in zero-shot image segmentation at multiple levels of granularity. However, these zero-shot predictions are rarely 3D-consistent. As the…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

In the field of autonomous driving, accurate and comprehensive perception of the 3D environment is crucial. Bird's Eye View (BEV) based methods have emerged as a promising solution for 3D object detection using multi-view images as input.…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…

Zero-shot 3D Visual Grounding (3DVG) is a critical capability for open-world embodied AI. However, existing methods are fundamentally bottlenecked by the poor quality of open-vocabulary 3D proposals, suffering from inaccurate categories and…

3D visual grounding (3DVG) identifies objects in 3D scenes from language descriptions. Existing zero-shot approaches leverage 2D vision-language models (VLMs) by converting 3D spatial information (SI) into forms amenable to VLM processing,…

The difficulties in both data acquisition and annotation substantially restrict the sample sizes of training datasets for 3D medical imaging applications. As a result, constructing high-performance 3D convolutional neural networks from…

Self-supervised depth estimation has made a great success in learning depth from unlabeled image sequences. While the mappings between image and pixel-wise depth are well-studied in current methods, the correlation between image, depth and…

Accurate video moment retrieval (VMR) requires universal visual-textual correlations that can handle unknown vocabulary and unseen scenes. However, the learned correlations are likely either biased when derived from a limited amount of…

Medical vision foundation models remain limited in downstream tasks, particularly volumetric medical image segmentation. While fine-tuning on labeled target-domain data improves performance, existing approaches typically rely on randomly…

While multi-modal 3D semantic occupancy prediction typically enhances robustness by fusing camera and LiDAR inputs, its effectiveness is fundamentally constrained by environmental variability. Specifically, camera sensors suffer from severe…

3D occupancy perception holds a pivotal role in recent vision-centric autonomous driving systems by converting surround-view images into integrated geometric and semantic representations within dense 3D grids. Nevertheless, current models…