相关论文: Look Around and Pay Attention: Multi-camera Point …

Visual SLAM approaches typically depend on loop closure detection to correct the inconsistencies that may arise during the map and camera trajectory calculations, typically making use of point features for detecting and closing the existing…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

Multi-headed Attention's (MHA) quadratic compute and linearly growing KV-cache make long-context transformers expensive to train and serve. Prior works such as Grouped Query Attention (GQA) and Multi-Latent Attention (MLA) shrink the cache,…

Recently, data-driven trajectory prediction methods have achieved remarkable results, significantly advancing the development of autonomous driving. However, the instability of single-vehicle perception introduces certain limitations to…

U-shaped architectures have long dominated the field of medical image segmentation, while Transformers are widely employed for modeling long-range dependencies. The former typically handles scale variations implicitly by aggregating…

Robust multi-object tracking (MOT) is a prerequisite fora safe deployment of self-driving cars. Tracking objects, however, remains a highly challenging problem, especially in cluttered autonomous driving scenes in which objects tend to…

Transformer-based models have emerged as a leading architecture for natural language processing, natural language generation, and image generation tasks. A fundamental element of the transformer architecture is self-attention, which allows…

Scaling language models to handle longer input sequences typically necessitates large key-value (KV) caches, resulting in substantial memory overhead during inference. In this paper, we propose Tensor Product Attention (TPA), a novel…

Anomaly detection is a crucial and challenging subject that has been studied within diverse research areas. In this work, we explore the task of log anomaly detection (especially computer system logs and user behavior logs) by analyzing…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

Any 3D tracking algorithm has to deal with occlusions: multiple targets get so close to each other that the loss of their identities becomes likely. In the best case scenario, trajectories are interrupted, thus curbing the completeness of…

Transformer-based object detectors often struggle with occlusions, fine-grained localization, and computational inefficiency caused by fixed queries and dense attention. We propose DAMM, Dual-stream Attention with Multi-Modal queries, a…

We present lambda layers -- an alternative framework to self-attention -- for capturing long-range interactions between an input and structured contextual information (e.g. a pixel surrounded by other pixels). Lambda layers capture such…

Generic motion understanding from video involves not only tracking objects, but also perceiving how their surfaces deform and move. This information is useful to make inferences about 3D shape, physical properties and object interactions.…

Anticipating the motion of neighboring vehicles is crucial for autonomous driving, especially on congested highways where even slight motion variations can result in catastrophic collisions. An accurate prediction of a future trajectory…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

We consider outdoor optical access points (OAPs), which, enabled by recent advances in metasurface technology, have attracted growing interest. While OAPs promise high data rates and strong physical-layer security, practical deployments…

Attention calculation is extremely time-consuming for long-sequence inference tasks, such as text or image/video generation, in large models. To accelerate this process, we developed a low-precision, mathematically-equivalent algorithm…

Tracking Any Point (TAP) plays a crucial role in motion analysis. Video-based approaches rely on iterative local matching for tracking, but they assume linear motion during the blind time between frames, which leads to point loss under…

Transferring image-based object detectors to the domain of videos remains a challenging problem. Previous efforts mostly exploit optical flow to propagate features across frames, aiming to achieve a good trade-off between accuracy and…