相关论文: Hierarchical Cross-Modal Alignment for Open-Vocabu…

In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…

Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse…

In this work, we tackle the limitations of current LiDAR-based 3D object detection systems, which are hindered by a restricted class vocabulary and the high costs associated with annotating new object classes. Our exploration of…

Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

Open vocabulary Human-Object Interaction (HOI) detection is a challenging task that detects all <human, verb, object> triplets of interest in an image, even those that are not pre-defined in the training set. Existing approaches typically…

A hierarchical cross-modal fusion model is proposed for vision-language question answering (VLQA) in industrial robotics, targeting the challenges of semantic ambiguity, complex environmental layouts, and domain-specific terminology common…

Traditional object detection models are typically trained on a fixed set of classes, limiting their flexibility and making it costly to incorporate new categories. Open-vocabulary object detection addresses this limitation by enabling…

Open-vocabulary object detection (OVOD) enables models to detect any object category, including unseen ones. Benefiting from large-scale pre-training, existing OVOD methods achieve strong detection performance on general scenarios (e.g.,…

The field of computer vision has experienced significant advancements through scalable vision encoders and multimodal pre-training frameworks. However, existing approaches often treat vision encoders and large language models (LLMs) as…

Human-Object Interaction (HOI) detection aims to localize human-object pairs and comprehend their interactions. Recently, two-stage transformer-based methods have demonstrated competitive performance. However, these methods frequently focus…

We present a novel OCR-free document understanding framework based on pretrained Multimodal Large Language Models (MLLMs). Our approach employs multi-scale visual features to effectively handle various font sizes within document images. To…

Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM),…

In this paper, we propose a novel framework for enhancing visual comprehension in autonomous driving systems by integrating visual language models (VLMs) with additional visual perception module specialised in object detection. We extend…

We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Local-HDP (for Local Hierarchical Dirichlet Process) is a hierarchical Bayesian method that has recently been used for open-ended 3D object category recognition. This method has been proven to be efficient in real-time robotic applications.…

Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…

Jigsaw puzzle solving remains challenging in computer vision, requiring an understanding of both local fragment details and global spatial relationships. While most traditional approaches only focus on visual cues like edge matching and…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…