相关论文: FUSER: Feed-Forward MUltiview 3D Registration Tran…

Image fusion is famous as an alternative solution to generate one high-quality image from multiple images in addition to image restoration from a single degraded image. The essence of image fusion is to integrate complementary information…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

While current multi-frame restoration methods combine information from multiple input images using 2D alignment techniques, recent advances in novel view synthesis are paving the way for a new paradigm relying on volumetric scene…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

Modern diffusion models, particularly those utilizing a Transformer-based UNet for denoising, rely heavily on self-attention operations to manage complex spatial relationships, thus achieving impressive generation performance. However, this…

Text-guided diffusion models have shown superior performance in image/video generation and editing. While few explorations have been performed in 3D scenarios. In this paper, we discuss three fundamental and interesting problems on this…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

Vision transformers have delivered tremendous success in representation learning. This is primarily due to effective token mixing through self attention. However, this scales quadratically with the number of pixels, which becomes infeasible…

Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…

Real-image super-resolution (Real-ISR) seeks to recover HR images from LR inputs with mixed, unknown degradations. While diffusion models surpass GANs in perceptual quality, they under-reconstruct high-frequency (HF) details due to a…

Monocular 3D human pose estimation (HPE) often encounters challenges such as depth ambiguity and occlusion during the 2D-to-3D lifting process. Additionally, traditional methods may overlook multi-scale skeleton features when utilizing…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

Multimodal 3D object detection has garnered considerable interest in autonomous driving. However, multimodal detectors suffer from dimension mismatches that derive from fusing 3D points with 2D pixels coarsely, which leads to sub-optimal…

Generalized Few-shot Semantic Segmentation (GFSS) aims to segment each image pixel into either base classes with abundant training examples or novel classes with only a handful of (e.g., 1-5) training images per class. Compared to the…

Due to the lack of a definitive ground truth for the image fusion problem, the loss functions are structured based on evaluation metrics, such as the structural similarity index measure (SSIM). However, in doing so, a bias is introduced…

While transformers have shown great potential on video recognition with their strong capability of capturing long-range dependencies, they often suffer high computational costs induced by the self-attention to the huge number of 3D tokens.…

Reliable 3D object perception is essential in autonomous driving. Owing to its sensing capabilities in all weather conditions, 4D radar has recently received much attention. However, compared to LiDAR, 4D radar provides much sparser point…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…