相关论文: Surformer v2: A Multimodal Classifier for Surface …

Surface material recognition is a key component in robotic perception and physical interaction, particularly when leveraging both tactile and visual sensory inputs. In this work, we propose Surformer v1, a transformer-based architecture…

Human texture perception is a weighted average of multi-sensory inputs: visual and tactile. While the visual sensing mechanism extracts global features, the tactile mechanism complements it by extracting local features. The lack of coupled…

Traditional vision-based material perception methods often experience substantial performance degradation under visually impaired conditions, thereby motivating the shift toward non-visual multimodal material perception. Despite this,…

This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…

Action recognition from multi-modal and multi-view observations holds significant potential for applications in surveillance, robotics, and smart environments. However, existing methods often fall short of addressing real-world challenges…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

Multimodal fusion frameworks for Human Action Recognition (HAR) using depth and inertial sensor data have been proposed over the years. In most of the existing works, fusion is performed at a single level (feature level or decision level),…

Chronic wounds such as diabetic foot ulcers and pressure injuries require accurate tissue-level assessment to guide treatment planning and monitor healing progression. While deep learning methods have advanced automated wound analysis, most…

Visual recognition inside the vehicle cabin leads to safer driving and more intuitive human-vehicle interaction but such systems face substantial obstacles as they need to capture different granularities of driver behaviour while dealing…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Accurate classification of medical device risk levels is essential for regulatory oversight and clinical safety. We present a Transformer-based multimodal framework that integrates textual descriptions and visual information to predict…

Extensive work has demonstrated the effectiveness of Vision Transformers. The plain Vision Transformer tends to obtain multi-scale features by selecting fixed layers, or the last layer of features aiming to achieve higher performance in…

The research and applications of multimodal emotion recognition have become increasingly popular recently. However, multimodal emotion recognition faces the challenge of lack of data. To solve this problem, we propose to use transfer…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

In this work, we present Multiformer, a novel approach to depth-aware video panoptic segmentation (DVPS) based on the mask transformer paradigm. Our method learns object representations that are shared across segmentation, monocular depth…

Multimodal medical imaging plays a pivotal role in clinical diagnosis and research, as it combines information from various imaging modalities to provide a more comprehensive understanding of the underlying pathology. Recently, deep…

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…