相关论文: SparseCoop: Cooperative Perception with Kinematic-…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

The advancement of vision-only Bird's-Eye-View (BEV) perception, a core paradigm for cost-effective autonomous driving, is hindered by the long-standing fundamental trade-off between perception accuracy and on-device deployment efficiency.…

Sparse Perception Models (SPMs) adopt a query-driven paradigm that forgoes explicit dense BEV or volumetric construction, enabling highly efficient computation and accelerated inference. In this paper, we introduce SQS, a novel query-based…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

In autonomous driving, multi-modal perception tasks like 3D object detection typically rely on well-synchronized sensors, both at training and inference. However, despite the use of hardware- or software-based synchronization algorithms,…

Collaborative perception aims to extend sensing coverage and improve perception accuracy by sharing information among multiple agents. However, due to differences in viewpoints and spatial positions, agents often acquire heterogeneous…

Outside-in multi-camera perception is increasingly important in indoor environments, where networks of static cameras must support multi-target tracking under occlusion and heterogeneous viewpoints. We evaluate Sparse4D, a query-based…

Collaborative perception allows agents to enhance their perceptual capabilities by exchanging intermediate features. Existing methods typically organize these intermediate features as 2D bird's-eye-view (BEV) representations, which discard…

This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…

As a basic component of SE(3)-equivariant deep feature learning, steerable convolution has recently demonstrated its advantages for 3D semantic analysis. The advantages are, however, brought by expensive computations on dense, volumetric…

Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that…

Multi-uncrewed aerial vehicle (UAV) cooperative perception has emerged as a promising paradigm for diverse low-altitude economy applications, where complementary multi-view observations are leveraged to enhance perception performance via…

With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…

Cooperative perception (CP) is attracting increasing attention and is regarded as the core foundation to support cooperative driving automation, a potential key solution to addressing the safety, mobility, and sustainability issues of…

Sparse-view 3D reconstruction is essential for applications in which dense image acquisition is impractical, such as robotics, augmented/virtual reality (AR/VR), and autonomous systems. In these settings, minimal image overlap prevents…

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…

Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…