相关论文: VLC Fusion: Vision-Language Conditioned Sensor Fus…

Vision-and-Language Navigation (VLN) aims to enable embodied agents to follow natural language instructions and reach target locations in real-world environments. While prior methods often rely on either global scene representations or…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

In autonomous driving, transparency in the decision-making of perception models is critical, as even a single misperception can be catastrophic. Yet with multi-sensor inputs, it is difficult to determine how each modality contributes to a…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…

Human language is grounded on multimodal knowledge including visual knowledge like colors, sizes, and shapes. However, current large-scale pre-trained language models rely on text-only self-supervised training with massive text data, which…

Vision-language models (VLMs) excel in visual understanding but often lack reliable grounding capabilities and actionable inference rates. Integrating them with open-vocabulary object detection (OVD), instance segmentation, and tracking…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Vision-language models have been key to the development of open-vocabulary 2D semantic segmentation. Lifting these models from 2D images to 3D scenes, however, remains a challenging problem. Existing approaches typically back-project and…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

We present F-VLM, a simple open-vocabulary object detection method built upon Frozen Vision and Language Models. F-VLM simplifies the current multi-stage training pipeline by eliminating the need for knowledge distillation or…

The human visual perception system has strong robustness in image fusion. This robustness is based on human visual perception system's characteristics of feature selection and non-linear fusion of different features. In order to simulate…

Visual captioning aims to generate textual descriptions given images or videos. Traditionally, image captioning models are trained on human annotated datasets such as Flickr30k and MS-COCO, which are limited in size and diversity. This…

Autonomous vehicles use multiple sensors, large deep-learning models, and powerful hardware platforms to perceive the environment and navigate safely. In many contexts, some sensing modalities negatively impact perception while increasing…

Vision-language navigation (VLN) is the task of navigating an embodied agent to carry out natural language instructions inside real 3D environments. In this paper, we study how to address three critical challenges for this task: the…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

Despite recent advancements in computer vision research, object detection in aerial images still suffers from several challenges. One primary challenge to be mitigated is the presence of multiple types of variation in aerial images, for…

Humans perceive the world by concurrently processing and fusing high-dimensional inputs from multiple modalities such as vision and audio. Machine perception models, in stark contrast, are typically modality-specific and optimised for…