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

Existing object detection methods are bounded in a fixed-set vocabulary by costly labeled data. When dealing with novel categories, the model has to be retrained with more bounding box annotations. Natural language supervision is an…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

In Large Visual Language Models (LVLMs), the efficacy of In-Context Learning (ICL) remains limited by challenges in cross-modal interactions and representation disparities. To overcome these challenges, we introduce a novel Visual…

In-context learning (ICL) allows large models to adapt to tasks using a few examples, yet its extension to vision-language models (VLMs) remains fragile. Our analysis reveals that the fundamental limitation lies in an inductive gap, models…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applications in augmented reality (AR), mixed reality (MR),…

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…

Open-vocabulary object detection (OVOD) enables models to recognize objects beyond predefined categories, but existing approaches remain limited in practical deployment. On the one hand, multimodal designs often incur substantial…

While Large Vision Language Models (LVLMs) are increasingly deployed in real-world applications, their ability to interpret abstract visual inputs remains limited. Specifically, they struggle to comprehend hand-drawn sketches, a modality…

Open-set object detection (OSOD) is highly desirable for robotic manipulation in unstructured environments. However, existing OSOD methods often fail to meet the requirements of robotic applications due to their high computational burden…

Vision-language models such as CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions due to pre-training on short and concise captions. We present FAST-GOAL…

Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…

Open-vocabulary semantic segmentation (OVSS) extends traditional closed-set segmentation by enabling pixel-wise annotation for both seen and unseen categories using arbitrary textual descriptions. While existing methods leverage…

Continual learning of vision-language models (VLMs) focuses on leveraging cross-modal pretrained knowledge to incrementally adapt to expanding downstream tasks and datasets, while tackling the challenge of knowledge forgetting. Existing…

The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previous methods focus on the learning of object-level…

3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the…

Recently, a few open-vocabulary methods have been proposed by employing a unified architecture to tackle generic segmentation and detection tasks. However, their performance still lags behind the task-specific models due to the conflict…

Pre-trained vision-language models (VLMs) have enabled significant progress in open vocabulary computer vision tasks such as image classification, object detection and image segmentation. Some recent works have focused on extending VLMs to…

Training a 3D scene understanding model requires complicated human annotations, which are laborious to collect and result in a model only encoding close-set object semantics. In contrast, vision-language pre-training models (e.g., CLIP)…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…