相关论文: SPOT-Occ: Sparse Prototype-guided Transformer for …

Real-world problems often involve complex and unstructured sets of measurements, which occur when sensors are sparsely placed in either space or time. Being able to model this irregular spatiotemporal data and extract meaningful forecasts…

Reducing the annotation cost of oriented object detection in remote sensing remains a major challenge. Recently, sparse annotation has gained attention for effectively reducing annotation redundancy in densely remote sensing scenes.…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches either rely on full supervision, which demands costly…

We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose trajectory relative to the target. This approach decouples…

Pseudo-LiDAR based 3D object detectors have gained popularity due to their high accuracy. However, these methods need dense depth supervision and suffer from inferior speed. To solve these two issues, a recently introduced RTS3D builds an…

Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

In the realm of autonomous vehicle perception, comprehending 3D scenes is paramount for tasks such as planning and mapping. Camera-based 3D Semantic Occupancy Prediction (OCC) aims to infer scene geometry and semantics from limited…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Query-based methods with dense features have demonstrated remarkable success in 3D object detection tasks. However, the computational demands of these models, particularly with large image sizes and multiple transformer layers, pose…

Sparse 3D detectors have received significant attention since the query-based paradigm embraces low latency without explicit dense BEV feature construction. However, these detectors achieve worse performance than their dense counterparts.…

Graph Transformers typically rely on explicit positional or structural encodings and dense global attention to incorporate graph topology. In this work, we show that neither is essential. We introduce HopFormer, a graph Transformer that…

Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This appealing ability is vital for recognition and understanding. To enable such capability in AI systems, we propose VoxFormer, a Transformer-based…

Vision-Language Models (VLMs) have shown significant progress in open-set challenges. However, the limited availability of 3D datasets hinders their effective application in 3D scene understanding. We propose LOC, a general language-guided…

Point cloud has been the mainstream representation for advanced 3D applications, such as virtual reality and augmented reality. However, the massive data amounts of point clouds is one of the most challenging issues for transmission and…

Vision Transformers (ViTs) have achieved state-of-the-art performance on various vision tasks. However, ViTs' self-attention module is still arguably a major bottleneck, limiting their achievable hardware efficiency. Meanwhile, existing…

In autonomous driving, 3D occupancy prediction outputs voxel-wise status and semantic labels for more comprehensive understandings of 3D scenes compared with traditional perception tasks, such as 3D object detection and bird's-eye view…

In this work, we introduce Coca-Splat, a novel approach to addressing the challenges of sparse view pose-free scene reconstruction and novel view synthesis (NVS) by jointly optimizing camera parameters with 3D Gaussians. Inspired by…

Three-dimensional (3D) medical image enhancement, including denoising and super-resolution, is critical for clinical diagnosis in CT, PET, and MRI. Although diffusion models have shown remarkable success in 2D medical imaging, scaling them…