相关论文: Explore Intrinsic Geometry for Query-based Tiny an…

The rapid advancement of object detection architectures has positioned single stage detectors as the dominant solution for real-time visual perception. A primary source of computational overhead in these models lies in the deep backbone…

This paper deals with the problem of localizing objects in image and video datasets from visual exemplars. In particular, we focus on the challenging problem of egocentric visual query localization. We first identify grave implicit biases…

Automated inspection and detection of foreign objects on railways is important for rail transportation safety as it helps prevent potential accidents and trains derailment. Most existing vision-based approaches focus on the detection of…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

Encoding information from 2D views of an object into a 3D representation is crucial for generalized 3D feature extraction. Such features can then enable 3D reconstruction, 3D generation, and other applications. We propose GOEmbed (Gradient…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

This paper is motivated by an interesting phenomenon: the performance of object detection lags behind that of instance segmentation (i.e., performance imbalance) when investigating the intermediate results from the beginning transformer…

Current motion-based multiple object tracking (MOT) approaches rely heavily on Intersection-over-Union (IoU) for object association. Without using 3D features, they are ineffective in scenarios with occlusions or visually similar objects.…

Camouflaged object detection (COD), segmenting objects that are elegantly blended into their surroundings, is a valuable yet challenging task. Existing deep-learning methods often fall into the difficulty of accurately identifying the…

This paper proposes CAMOT, a simple camera angle estimator for multi-object tracking to tackle two problems: 1) occlusion and 2) inaccurate distance estimation in the depth direction. Under the assumption that multiple objects are located…

Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

Detection Transformer-based methods have achieved significant advancements in general object detection. However, challenges remain in effectively detecting small objects. One key difficulty is that existing encoders struggle to efficiently…

Monocular 3D object detection (Mono3D) aims to infer object locations and dimensions in 3D space from a single RGB image. Despite recent progress, existing methods remain highly sensitive to camera intrinsics and struggle to generalize…

Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…

Existing depth estimation methods are fundamentally limited to predicting depth on discrete image grids. Such representations restrict their scalability to arbitrary output resolutions and hinder the geometric detail recovery. This paper…

Depth completion recovers a dense depth map from sensor measurements. Current methods are mostly tailored for very sparse depth measurements from LiDARs in outdoor settings, while for indoor scenes Time-of-Flight (ToF) or structured light…

We present a reinforcement learning approach for detecting objects within an image. Our approach performs a step-wise deformation of a bounding box with the goal of tightly framing the object. It uses a hierarchical tree-like representation…

Our goal is to recognize material categories using images and geometry information. In many applications, such as construction management, coarse geometry information is available. We investigate how 3D geometry (surface normals, camera…