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

We introduce Speech ReaLLM, a new ASR architecture that marries "decoder-only" ASR with the RNN-T to make multimodal LLM architectures capable of real-time streaming. This is the first "decoder-only" ASR architecture designed to handle…

We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

In this paper, we focus on designing effective method for fast and accurate scene parsing. A common practice to improve the performance is to attain high resolution feature maps with strong semantic representation. Two strategies are widely…

Recent advancements in multi-view scene reconstruction have been significant, yet existing methods face limitations when processing streams of input images. These methods either rely on time-consuming offline optimization or are restricted…

Scene text recognition has drawn great attentions in the community of computer vision and artificial intelligence due to its challenges and wide applications. State-of-the-art recurrent neural networks (RNN) based models map an input…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

Achieving optimal semantic segmentation with frame-based vision sensors poses significant challenges for real-time systems like UAVs and self-driving cars, which require rapid and precise processing. Traditional frame-based methods often…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Human action understanding is crucial for the advancement of multimodal systems. While recent developments, driven by powerful large language models (LLMs), aim to be general enough to cover a wide range of categories, they often overlook…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any…

Recently, numerous algorithms have been developed to tackle the problem of vision-language navigation (VLN), i.e., entailing an agent to navigate 3D environments through following linguistic instructions. However, current VLN agents simply…

Video generation has achieved remarkable progress in visual fidelity and controllability, enabling conditioning on text, layout, or motion. Among these, motion control - specifying object dynamics and camera trajectories - is essential for…

Commonly, SLAM algorithms are focused on a static environment, however, there are several scenes where dynamic objects are present. This work presents the STDyn-SLAM an image feature-based SLAM system working on dynamic environments using a…

Recent progress in large models has led to significant advances in unified multimodal generation and understanding. However, the development of models that unify motion-language generation and understanding remains largely underexplored.…