相关论文: OWL: Unsupervised 3D Object Detection by Occupancy…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

Deep learning has attained remarkable success in many 3D visual recognition tasks, including shape classification, object detection, and semantic segmentation. However, many of these results rely on manually collecting densely annotated…

Semi-supervised Learning (SSL) has received increasing attention in autonomous driving to reduce the enormous burden of 3D annotation. In this paper, we propose UpCycling, a novel SSL framework for 3D object detection with zero additional…

In the field of domain adaptation (DA) on 3D object detection, most of the work is dedicated to unsupervised domain adaptation (UDA). Yet, without any target annotations, the performance gap between the UDA approaches and the…

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

Both indoor and outdoor scene perceptions are essential for embodied intelligence. However, current sparse supervised 3D object detection methods focus solely on outdoor scenes without considering indoor settings. To this end, we propose a…

This paper shows how an uncertainty-aware, deep neural network can be trained to detect, recognise and localise objects in 2D RGB images, in applications lacking annotated train-ng datasets. We propose a self-supervising teacher-student…

Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Training image-based object detectors presents formidable challenges, as it entails not only the complexities of object detection but also the added intricacies of precisely localizing objects within potentially diverse and noisy…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

This paper introduces an innovative approach to open world recognition (OWR), where we leverage knowledge acquired from known objects to address the recognition of previously unseen objects. The traditional method of object modeling relies…

Current methods for 2D and 3D object understanding struggle with severe occlusions in busy urban environments, partly due to the lack of large-scale labeled ground-truth annotations for learning occlusion. In this work, we introduce a novel…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

Weakly-supervised salient object detection (WSOD) aims to develop saliency models using image-level annotations. Despite of the success of previous works, explorations on an effective training strategy for the saliency network and accurate…

Effective waste sorting is critical for sustainable recycling, yet AI research in this domain continues to lag behind commercial systems due to limited datasets and reliance on legacy object detectors. In this work, we advance AI-driven…

Unsupervised multi-object discovery (MOD) aims to detect and localize distinct object instances in visual scenes without any form of human supervision. Recent approaches leverage object-centric learning (OCL) and motion cues from video to…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

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…