相关论文: Layer-Wise Modality Decomposition for Interpretabl…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Autonomous driving demands accurate perception and safe decision-making. To achieve this, automated vehicles are now equipped with multiple sensors (e.g., camera, Lidar, etc.), enabling them to exploit complementary environmental context by…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Multimodal learning has been lacking principled ways of combining information from different modalities and learning a low-dimensional manifold of meaningful representations. We study multimodal learning and sensor fusion from a latent…

Multi-modal fusion has played a vital role in multi-modal scene understanding. Most existing methods focus on cross-modal fusion involving two modalities, often overlooking more complex multi-modal fusion, which is essential for real-world…

Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…

Full-stack autonomous driving perception modules usually consist of data-driven models based on multiple sensor modalities. However, these models might be biased to the sensor setup used for data acquisition. This bias can seriously impair…

In the surveillance and defense domain, multi-target detection and classification (MTD) is considered essential yet challenging due to heterogeneous inputs from diverse data sources and the computational complexity of algorithms designed…

Real-world problems are often dependent on multiple data modalities, making multimodal fusion essential for leveraging diverse information sources. In high-stakes domains, such as in healthcare, understanding how each modality contributes…

With the bloom of Large Language Models (LLMs), Multimodal Large Language Models (MLLMs) that incorporate LLMs with pre-trained vision models have recently demonstrated impressive performance across diverse vision-language tasks. However,…

Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…

In Transport Mode Detection, a great diversity of methodologies exist according to the choice made on sensors, preprocessing, model used, etc. In this domain, the comparisons between each option are not always complete. Experiments on a…

Video camouflaged object detection (VCOD) is challenging due to dynamic environments. Existing methods face two main issues: (1) SAM-based methods struggle to separate camouflaged object edges due to model freezing, and (2) MLLM-based…

Existing Multimodal Large Language Models (MLLMs) increasingly emphasize complex understanding of various visual elements, including multiple objects, text information, and spatial relations. Their development for comprehensive visual…

Driver Monitoring Systems (DMSs) are crucial for safe hand-over actions in Level-2+ self-driving vehicles. State-of-the-art DMSs leverage multiple sensors mounted at different locations to monitor the driver and the vehicle's interior scene…

Modern deep learning models for change detection (CD) often struggle to explicitly represent task-relevant semantic differences. This paper proposes the Latent Difference Guidance (LDGuid) framework that explicitly learns and injects…

Effective fusion of data from multiple modalities, such as video, speech, and text, is challenging due to the heterogeneous nature of multimodal data. In this paper, we propose adaptive fusion techniques that aim to model context from…

Besides standard cameras, autonomous vehicles typically include multiple additional sensors, such as lidars and radars, which help acquire richer information for perceiving the content of the driving scene. While several recent works focus…

Multi-modal 3D object detection is pivotal for autonomous driving, integrating complementary sensors like LiDAR and cameras. However, its real-world reliability is challenged by transient data interruptions and missing, where modalities can…