相关论文: MMDrive: Interactive Scene Understanding Beyond Vi…

Multi-modal retrieval has seen tremendous progress with the development of vision-language models. However, further improving these models require additional labelled data which is a huge manual effort. In this paper, we propose a framework…

Embodied scene understanding serves as the cornerstone for autonomous agents to perceive, interpret, and respond to open driving scenarios. Such understanding is typically founded upon Vision-Language Models (VLMs). Nevertheless, existing…

Depth-guided multimodal fusion combines depth information from visible and infrared images, significantly enhancing the performance of 3D reconstruction and robotics applications. Existing thermal-visible image fusion mainly focuses on…

Multimodal language models (MLMs) integrate visual and textual information by coupling a vision encoder with a large language model through the specific adapter. While existing approaches commonly rely on a single pre-trained vision…

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…

The rapid growth of ego-centric dashcam footage presents a major challenge for detecting safety-critical events such as collisions and near-collisions, scenarios that are brief, rare, and difficult for generic vision models to capture.…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

Vision-Language Models (VLMs) have emerged as key enablers for multimodal tasks, but their reliance on separate visual encoders introduces challenges in efficiency, scalability, and modality alignment. To address these limitations, we…

Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…

Urban scene synthesis with video generation models has recently shown great potential for autonomous driving. Existing video generation approaches to autonomous driving primarily focus on RGB video generation and lack the ability to support…

Advanced Driver Assistance Systems (ADAS) need to understand human driver behavior while perceiving their navigation context, but jointly learning these heterogeneous tasks would cause inter-task negative transfer and impair system…

Accurate driving behavior recognition and reasoning are critical for autonomous driving video understanding. However, existing methods often tend to dig out the shallow causal, fail to address spurious correlations across modalities, and…

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large…

Multimodal LLMs (MLLMs) equip language models with visual capabilities by aligning vision encoders with language models. Existing methods to enhance the visual perception of MLLMs often involve designing more powerful vision encoders, which…

This paper presents Omni-View, which extends the unified multimodal understanding and generation to 3D scenes based on multiview images, exploring the principle that "generation facilitates understanding". Consisting of understanding model,…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Reliable autonomous driving requires scene understanding that is semantically consistent across heterogeneous sensors and verifiable at the reasoning stage. However, many recent LLM-driven driving systems attach the language model as a…

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…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…