相关论文: Dual Enhancement on 3D Vision-Language Perception …

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Precise spatial understanding from multi-view images remains a fundamental challenge for Multimodal Large Language Models (MLLMs), as their visual representations are predominantly semantic and lack explicit geometric grounding. While…

Large pre-trained vision-language models have shown great prominence in transferring pre-acquired knowledge to various domains and downstream tasks with appropriate prompting or tuning. Existing prevalent tuning methods can be generally…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Satellite imagery differs fundamentally from natural images: its aerial viewpoint, very high resolution, diverse scale variations, and abundance of small objects demand both region-level spatial reasoning and holistic scene understanding.…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Joint understanding of video and language is an active research area with many applications. Prior work in this domain typically relies on learning text-video embeddings. One difficulty with this approach, however, is the lack of…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…

Multi-view 3D visual grounding is critical for autonomous driving vehicles to interpret natural languages and localize target objects in complex environments. However, existing datasets and methods suffer from coarse-grained language…

Most recent approaches to monocular 3D human pose estimation rely on Deep Learning. They typically involve regressing from an image to either 3D joint coordinates directly or 2D joint locations from which 3D coordinates are inferred. Both…

Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors from accurately distinguishing glass surfaces. The lack of…

3D face reconstruction from monocular images has promoted the development of various applications such as augmented reality. Though existing methods have made remarkable progress, most of them emphasize geometric reconstruction, while…

While Multimodal Large Language Models (MLLMs) have achieved remarkable success in 2D visual understanding, their ability to reason about 3D space remains limited. To address this gap, we introduce geometrically referenced 3D scene…

RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…

The existing works on object-level language grounding with 3D objects mostly focus on improving performance by utilizing the off-the-shelf pre-trained models to capture features, such as viewpoint selection or geometric priors. However,…

3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage paradigm, i.e., language-irrelevant detection and cross-modal…

Monocular 3D object detection is a low-cost but challenging task, as it requires generating accurate 3D localization solely from a single image input. Recent developed depth-assisted methods show promising results by using explicit depth…