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

Object permanence is the concept that objects do not suddenly disappear in the physical world. Humans understand this concept at young ages and know that another person is still there, even though it is temporarily occluded. Neural networks…

Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

Perceiving and understanding 3D motion is a core technology in fields such as autonomous driving, robots, and motion prediction. This paper proposes a 3D motion perception method called ScaleFlow++ that is easy to generalize. With just a…

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…

Optical flow is inherently a 2D search problem, and thus the computational complexity grows quadratically with respect to the search window, making large displacements matching infeasible for high-resolution images. In this paper, we take…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Detecting and localising unknown or out-of-distribution (OOD) objects in any scene can be a challenging task in vision, particularly in safety-critical cases involving autonomous systems like automated vehicles or trains. Supervised anomaly…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

In autonomous driving and robotics, there is a growing interest in utilizing short-term historical data to enhance multi-camera 3D object detection, leveraging the continuous and correlated nature of input video streams. Recent work has…

This paper focuses on visual motion-based invariants that result in a representation of 3D points in which the stationary environment remains invariant, ensuring shape constancy. This is achieved even as the images undergo constant change…

Guiding off-screen points of interest (POIs) is a practical way of providing additional information to users of small-screen devices, such as smart devices and head-mounted displays. Popular previous methods involve displaying a primitive…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware policies. We address the challenge of mapping natural…

We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…