相关论文: VLM-Loc: Localization in Point Cloud Maps via Visi…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…

Over the past year, spatial intelligence has drawn increasing attention. Many prior works study it from the perspective of visual-spatial intelligence, where models have access to visuospatial information from visual inputs. However, in the…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Vision-Language Models (VLMs) are expected to be capable of reasoning with commonsense knowledge as human beings. One example is that humans can reason where and when an image is taken based on their knowledge. This makes us wonder if,…

Spatial reasoning is a critical capability for intelligent robots, yet current vision-language models (VLMs) still fall short of human-level performance in video-based spatial reasoning. This gap mainly stems from two challenges: a…

Vision-Language Models (VLMs) have shown remarkable potential in advancing autonomous driving by leveraging multi-modal fusion in order to enhance scene perception, reasoning, and decision-making. Despite their potential, existing models…

Large visual language models (LVLMs) have demonstrated impressive performance in coarse-grained geo-localization at the country or city level, but they struggle with fine-grained street-level localization within urban areas. In this paper,…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

Vision-Language Models (VLMs) have achieved impressive performance in cross-modal understanding across textual and visual inputs, yet existing benchmarks predominantly focus on pure-text queries. In real-world scenarios, language also…

Decades of cognitive science establish that humans navigate environments by forming cognitive maps, defined as allocentric and topology-preserving representations of 3D space. While modern Vision-Language Models (VLMs) demonstrate emergent…

SpatialLM is a large language model designed to process 3D point cloud data and generate structured 3D scene understanding outputs. These outputs include architectural elements like walls, doors, windows, and oriented object boxes with…

Vision-language models (VLMs) have advanced multimodal reasoning but still face challenges in spatial reasoning for 3D scenes and complex object configurations. To address this, we introduce SpatialViLT, an enhanced VLM that integrates…

The advances in Vision-Language models (VLMs) offer exciting opportunities for robotic applications involving image geo-localization, the problem of identifying the geo-coordinates of a place based on visual data only. Recent research works…

Large language models have achieved great success in recent years, so as their variants in vision. Existing vision-language models can describe images in natural languages, answer visual-related questions, or perform complex reasoning about…

This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

Vision-Language Models (VLMs) have shown remarkable capabilities across diverse visual tasks, including image recognition, video understanding, and Visual Question Answering (VQA) when explicitly trained for these tasks. Despite these…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…