相关论文: Efficient Multi-View 3D Object Detection by Dynami…

The quadratic computational complexity to the number of tokens limits the practical applications of Vision Transformers (ViTs). Several works propose to prune redundant tokens to achieve efficient ViTs. However, these methods generally…

We present Multi-View Attentive Contextualization (MvACon), a simple yet effective method for improving 2D-to-3D feature lifting in query-based multi-view 3D (MV3D) object detection. Despite remarkable progress witnessed in the field of…

Vision Transformers (ViTs) have demonstrated outstanding performance in computer vision tasks, yet their high computational complexity prevents their deployment in computing resource-constrained environments. Various token pruning…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

Since its inception, Vision Transformer (ViT) has emerged as a prevalent model in the computer vision domain. Nonetheless, the multi-head self-attention (MHSA) mechanism in ViT is computationally expensive due to its calculation of…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Vision Transformers (ViTs) have emerged as the backbone of many segmentation models, consistently achieving state-of-the-art (SOTA) performance. However, their success comes at a significant computational cost. Image token pruning is one of…

Current 3D object detection models follow a single dataset-specific training and testing paradigm, which often faces a serious detection accuracy drop when they are directly deployed in another dataset. In this paper, we study the task of…

3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object…

The dominant multi-camera 3D detection paradigm is based on explicit 3D feature construction, which requires complicated indexing of local image-view features via 3D-to-2D projection. Other methods implicitly introduce geometric positional…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

Video tasks are compute-heavy and thus pose a challenge when deploying in real-time applications, particularly for tasks that require state-of-the-art Vision Transformers (ViTs). Several research efforts have tried to address this challenge…

3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…

Vision Transformers (ViTs) have achieved state-of-the-art accuracy on various computer vision tasks. However, their high computational complexity prevents them from being applied to many real-world applications. Weight and token pruning are…

Vision transformers (ViT) usually extract features via forwarding all the tokens in the self-attention layers from top to toe. In this paper, we introduce dynamic token-pass vision transformers (DoViT) for semantic segmentation, which can…

In this paper, we introduce the task of multi-view RGB-based 3D object detection as an end-to-end optimization problem. To address this problem, we propose ImVoxelNet, a novel fully convolutional method of 3D object detection based on…