相关论文: SLARM: Streaming and Language-Aligned Reconstructi…

Large Language Models (LLMs) have demonstrated extraordinary performance across a broad array of applications, from traditional language processing tasks to interpreting structured sequences like time-series data. Yet, their effectiveness…

Streaming 3D reconstruction aims to recover 3D information, such as camera poses and point clouds, from a video stream, which necessitates geometric accuracy, temporal consistency, and computational efficiency. Motivated by the principles…

Line matching plays an essential role in structure from motion (SFM) and simultaneous localization and mapping (SLAM), especially in low-textured and repetitive scenes. In this paper, we present a new method of using a graph convolution…

We propose a streaming non-autoregressive (non-AR) decoding algorithm to deliberate the hypothesis alignment of a streaming RNN-T model. Our algorithm facilitates a simple greedy decoding procedure, and at the same time is capable of…

Enabling bi-directional retrieval of images and texts is important for understanding the correspondence between vision and language. Existing methods leverage the attention mechanism to explore such correspondence in a fine-grained manner.…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…

We introduce SensorLLM, a two-stage framework that enables Large Language Models (LLMs) to perform human activity recognition (HAR) from sensor time-series data. Despite their strong reasoning and generalization capabilities, LLMs remain…

Implicit neural representation has demonstrated promising results in 3D reconstruction on various scenes. However, existing approaches either struggle to model fast-moving objects or are incapable of handling large-scale camera ego-motions…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…

We present a novel neural RGB-D Simultaneous Localization And Mapping (SLAM) system that learns an implicit map of the scene in real time. For the first time, we explore the use of Scene Coordinate Regression (SCR) as the core implicit map…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Large-scale live-streaming recommendation requires precise modeling of non-stationary content semantics under strict real-time serving constraints. In industrial deployment, two common approaches exhibit fundamental limitations: discrete…

We propose an architecture and training scheme to predict video frames by explicitly modeling dis-occlusions and capturing the evolution of semantically consistent regions in the video. The scene layout (semantic map) and motion (optical…

Information retrieval (IR) in dynamic data streams is a crucial task, as shifts in data distribution degrade the performance of AI-powered IR systems. To mitigate this issue, memory-based continual learning has been widely adopted for IR.…

Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…

This research introduces a transformative framework for integrating Vision-Enhanced Large Language Models (LLMs) with advanced transformer-based architectures to tackle challenges in high-resolution image synthesis and multimodal data…

Recent advances in Large Language Models (LLMs) have enabled the development of Video-LLMs, advancing multimodal learning by bridging video data with language tasks. However, current video understanding models struggle with processing long…

In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…