相关论文: Ghost-FWL: A Large-Scale Full-Waveform LiDAR Datas…
Vision-language models (VLMs) are prone to object hallucinations, where they erroneously indicate the presenceof certain objects in an image. Existing benchmarks quantify hallucinations using relatively small, labeled datasets. However,…
3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…
This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…
Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…
The detection of galaxy clusters, the most massive bounded structures in the universe, is crucial for cosmological analysis. Weak lensing signals allow us to track the distribution of all (dark and baryonic) matter regardless of its…
The swift and precise detection of vehicles plays a significant role in intelligent transportation systems. Current vehicle detection algorithms encounter challenges of high computational complexity, low detection rate, and limited…
We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…
A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…
Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…
We present a neural radiance field (NeRF) based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photorealistic texture. Our system…
Instruction tuned Large Vision Language Models (LVLMs) have significantly advanced in generalizing across a diverse set of multi-modal tasks, especially for Visual Question Answering (VQA). However, generating detailed responses that are…
LiDAR-based 3D object detection has made impressive progress recently, yet most existing models are black-box, lacking interpretability. Previous explanation approaches primarily focus on analyzing image-based models and are not readily…
The rapid development of generative AI is a double-edged sword, which not only facilitates content creation but also makes image manipulation easier and more difficult to detect. Although current image forgery detection and localization…
Open-Vocabulary Detection (OVD) is the task of detecting all interesting objects in a given scene without predefined object classes. Extensive work has been done to deal with the OVD for 2D RGB images, but the exploration of 3D OVD is still…
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The…
The widespread adoption of Large Language Models (LLMs) in critical applications has introduced severe reliability and security risks, as LLMs remain vulnerable to notorious threats such as hallucinations, jailbreak attacks, and backdoor…
High-altitude, multi-spectral, aerial imagery is scarce and expensive to acquire, yet it is necessary for algorithmic advances and application of machine learning models to high-impact problems such as wildfire detection. We introduce a…
Multi-frame high dynamic range (HDR) imaging aims to reconstruct ghost-free images with photo-realistic details from content-complementary but spatially misaligned low dynamic range (LDR) images. Existing HDR algorithms are prone to…