相关论文: Learning 3D Reconstruction with Priors in Test Tim…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Masked Autoencoders (MAEs) have been shown to be effective in pre-training Vision Transformers (ViTs) for natural and medical image analysis problems. By reconstructing missing pixel/voxel information in visible patches, a ViT encoder can…

For effective human-robot teaming, it is important for the robots to be able to share their visual perception with the human operators. In a harsh remote collaboration setting, data compression techniques such as autoencoder can be utilized…

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…

Understanding the 3D world without supervision is currently a major challenge in computer vision as the annotations required to supervise deep networks for tasks in this domain are expensive to obtain on a large scale. In this paper, we…

Recently, plain vision Transformers (ViTs) have shown impressive performance on various computer vision tasks, thanks to their strong modeling capacity and large-scale pretraining. However, they have not yet conquered the problem of image…

Self-supervised pre-training for 3D vision has drawn increasing research interest in recent years. In order to learn informative representations, a lot of previous works exploit invariances of 3D features, e.g., perspective-invariance…

Computer vision methods that explicitly detect object parts and reason on them are a step towards inherently interpretable models. Existing approaches that perform part discovery driven by a fine-grained classification task make very…

High-fidelity 3D scene reconstruction has been substantially advanced by recent progress in neural fields. However, most existing methods train a separate network from scratch for each individual scene. This is not scalable, inefficient,…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…

Vision Transformers (ViTs) and MLPs signal further efforts on replacing hand-wired features or inductive biases with general-purpose neural architectures. Existing works empower the models by massive data, such as large-scale pre-training…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

In this work we propose for the first time a transformer-based framework for unsupervised representation learning of multivariate time series. Pre-trained models can be potentially used for downstream tasks such as regression and…

The performance of existing single-view 3D reconstruction methods heavily relies on large-scale 3D annotations. However, such annotations are tedious and expensive to collect. Semi-supervised learning serves as an alternative way to…

Learning efficient and expressive visual representation has long been the pursuit of computer vision research. While Vision Transformers (ViTs) gradually replace traditional Convolutional Neural Networks (CNNs) as more scalable vision…

Unlike other vision tasks where Transformer-based approaches are becoming increasingly common, stereo depth estimation is still dominated by convolution-based approaches. This is mainly due to the limited availability of real-world ground…

We present a unified framework tackling two problems: class-specific 3D reconstruction from a single image, and generation of new 3D shape samples. These tasks have received considerable attention recently; however, existing approaches rely…

3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…

A Vision Transformer (ViT) is a simple neural architecture amenable to serve several computer vision tasks. It has limited built-in architectural priors, in contrast to more recent architectures that incorporate priors either about the…