相关论文: OWL: A Novel Approach to Machine Perception During…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

In this thesis we address two related aspects of visual object recognition: the use of motion information, and the use of internal supervision, to help unsupervised learning. These two aspects are inter-related in the current study, since…

Perception of the visually disjoint surfaces of our cluttered world as whole objects, physically distinct from those overlapping them, is a cognitive phenomenon called objectness that forms the basis of our visual perception. Shared by all…

Object detection and pose estimation are difficult tasks in robotics and autonomous driving. Existing object detection and pose estimation methods mostly adopt the same-dimensional data for training. For example, 2D object detection usually…

Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…

This paper presents a knowledge-based detection of objects approach using the OWL ontology language, the Semantic Web Rule Language, and 3D processing built-ins aiming at combining geometrical analysis of 3D point clouds and specialist's…

We present an architecture and a training recipe that adapts pre-trained open-world image models to localization in videos. Understanding the open visual world (without being constrained by fixed label spaces) is crucial for many real-world…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization,…

In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…

Estimating abnormal posture based on 3D pose is vital in human pose analysis, yet it presents challenges, especially when reconstructing 3D human poses from monocular datasets with occlusions. Accurate reconstructions enable the restoration…

Widely adopted motion forecasting datasets substitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred through annotating the original scenes with perception…

This paper proposes a self-supervised objective for learning representations that localize objects under occlusion - a property known as object permanence. A central question is the choice of learning signal in cases of total occlusion.…

Internet of Things (IoT)-based indoor localization has gained significant popularity recently to satisfy the ever-increasing requirements of indoor Location-based Services (LBS). In this context, Inertial Measurement Unit (IMU)-based…

Separating moving and static objects from a moving camera viewpoint is essential for 3D reconstruction, autonomous navigation, and scene understanding in robotics. Existing approaches often rely primarily on optical flow, which struggles to…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

Object-oriented reinforcement learning (OORL) is a promising way to improve the sample efficiency and generalization ability over standard RL. Recent works that try to solve OORL tasks without additional feature engineering mainly focus on…

Estimating motion in videos is an essential computer vision problem with many downstream applications, including controllable video generation and robotics. Current solutions are primarily trained using synthetic data or require tuning of…

Vision benefits from grouping pixels into objects and understanding their spatial relationships, both laterally and in depth. We capture this with a scene representation comprising an occlusion-ordered stack of "object layers," each…

Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…