相关论文: LOC: A General Language-Guided Framework for Open-…

In this paper, we explore a novel point representation for 3D occupancy prediction from multi-view images, which is named Occupancy as Set of Points. Existing camera-based methods tend to exploit dense volume-based representation to predict…

Recent advances in foundational Vision Language Models (VLMs) have reshaped the evaluation paradigm in computer vision tasks. These foundational models, especially CLIP, have accelerated research in open-vocabulary computer vision tasks,…

Despite the success of large-scale pretrained Vision-Language Models (VLMs) especially CLIP in various open-vocabulary tasks, their application to semantic segmentation remains challenging, producing noisy segmentation maps with…

Visual Language Navigation (VLN) is a fundamental task within the field of Embodied AI, focusing on the ability of agents to navigate complex environments based on natural language instructions. Despite the progress made by existing…

Semantic occupancy prediction aims to infer dense geometry and semantics of surroundings for an autonomous agent to operate safely in the 3D environment. Existing occupancy prediction methods are almost entirely trained on human-annotated…

3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing methods struggle with geometric misalignment in view…

Robot manipulation relying on learned object-centric descriptors became popular in recent years. Visual descriptors can easily describe manipulation task objectives, they can be learned efficiently using self-supervision, and they can…

Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing attention from researchers. However, as a compact and…

This paper proposes a scalable and straightforward pre-training paradigm for efficient visual conceptual representation called occluded image contrastive learning (OCL). Our OCL approach is simple: we randomly mask patches to generate…

In this work, we propose a method that leverages CLIP feature distillation, achieving efficient 3D segmentation through language guidance. Unlike previous methods that rely on multi-scale CLIP features and are limited by processing speed…

Image captioning models have lately shown impressive results when applied to standard datasets. Switching to real-life scenarios, however, constitutes a challenge due to the larger variety of visual concepts which are not covered in…

Despite the significant progress in deep learning for dense visual recognition problems, such as semantic segmentation, traditional methods are constrained by fixed class sets. Meanwhile, vision-language foundation models, such as CLIP,…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

Pre-trained vision-language (V-L) models such as CLIP have shown excellent performance in many downstream cross-modal tasks. However, most of them are only applicable to the English context. Subsequent research has focused on this problem…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, methods transferring language or language-image pre-training models like Contrastive Language-Image…

Driven by autonomous driving's demands for precise 3D perception, 3D semantic occupancy prediction has become a pivotal research topic. Unlike bird's-eye-view (BEV) methods, which restrict scene representation to a 2D plane, occupancy…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…