相关论文: Driving on Registers

In this work, we explore neat yet effective Transformer-based frameworks for visual grounding. The previous methods generally address the core problem of visual grounding, i.e., multi-modal fusion and reasoning, with manually-designed…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

Sensor fusion is critical to perception systems for task domains such as autonomous driving and robotics. Recently, the Transformer integrated with CNN has demonstrated high performance in sensor fusion for various perception tasks. In this…

Hybrid Event-Based Vision Sensor (HybridEVS) is a novel sensor integrating traditional frame-based and event-based sensors, offering substantial benefits for applications requiring low-light, high dynamic range, and low-latency…

End-to-end autonomous driving with its holistic optimization capabilities, has gained increasing traction in academia and industry. Vectorized representations, which preserve instance-level topological information while reducing…

Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT\&R system. Our system formulates event-stream matching as…

Attention is sparse in vision transformers. We observe the final prediction in vision transformers is only based on a subset of most informative tokens, which is sufficient for accurate image recognition. Based on this observation, we…

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we…

End-to-end autonomous driving systems directly generate driving policies from raw sensor inputs. While these systems can extract effective environmental features for planning, relying on auxiliary perception tasks, developing perception…

Vision Transformer (ViT) is emerging as the state-of-the-art architecture for image recognition. While recent studies suggest that ViTs are more robust than their convolutional counterparts, our experiments find that ViTs trained on…

This paper is on the automated driving architecture and operation of a light commercial vehicle. Simple longitudinal and lateral dynamic models of the vehicle and a more detailed CarSim model are developed and used in simulations and…

Document images can be affected by many degradation scenarios, which cause recognition and processing difficulties. In this age of digitization, it is important to denoise them for proper usage. To address this challenge, we present a new…

In this paper, we present a new tracking architecture with an encoder-decoder transformer as the key component. The encoder models the global spatio-temporal feature dependencies between target objects and search regions, while the decoder…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Vision Transformers (ViT)s have recently become popular due to their outstanding modeling capabilities, in particular for capturing long-range information, and scalability to dataset and model sizes which has led to state-of-the-art…

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control…

Transformers are transforming the landscape of computer vision, especially for recognition tasks. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the first fully…

We attempt to reduce the computational costs in vision transformers (ViTs), which increase quadratically in the token number. We present a novel training paradigm that trains only one ViT model at a time, but is capable of providing…

Vision transformers (ViTs) are changing the landscape of object detection approaches. A natural usage of ViTs in detection is to replace the CNN-based backbone with a transformer-based backbone, which is straightforward and effective, with…