相关论文: MAG-VLAQ: Multi-modal Aerial-Ground Query Aggregat…

Progress in 3D vision-language learning has been hindered by the scarcity of large-scale 3D datasets. We introduce UniVLG, a unified architecture for 2D and 3D vision-language understanding that bridges the gap between existing 2D-centric…

Although fusing multiple sensor modalities can enhance object detection performance, existing fusion approaches often overlook subtle variations in environmental conditions and sensor inputs. As a result, they struggle to adaptively weight…

Absolute Visual Localization (AVL) enables an Unmanned Aerial Vehicle (UAV) to determine its position in GNSS-denied environments by establishing geometric relationships between UAV images and geo-tagged reference maps. While many previous…

Visual place recognition (VPR) remains challenging due to significant viewpoint changes and appearance variations. Mainstream works tackle these challenges by developing various feature aggregation methods to transform deep features into…

Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite images. Existing methods heavily rely on the supervision of…

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of…

LiDAR place recognition is a critical capability for autonomous navigation and cross-modal localization in large-scale outdoor environments. Existing approaches predominantly depend on pre-built 3D dense maps or aerial imagery, which impose…

Vision-language models (VLMs) enable text-guided object detection but degrade severely under cross-view scenarios where ground and aerial viewpoints differ in altitude, scale, and spatial layout. These geometric changes introduce systematic…

Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Multimodal Retrieval-Augmented Generation (Visual RAG) significantly advances question answering by integrating visual and textual evidence. Yet, current evaluations fail to systematically account for query difficulty and ambiguity. We…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

Unmanned aerial vehicle (UAV) object detection plays a vital role in applications such as environmental monitoring and urban security. To improve robustness, recent studies have explored multimodal detection by fusing visible (RGB) and…

Ground to aerial matching is a crucial and challenging task in outdoor robotics, particularly when GPS is absent or unreliable. Structures like buildings or large dense forests create interference, requiring GNSS replacements for global…

Artificial Intelligence (AI) has demonstrated significant potential in healthcare, particularly in disease diagnosis and treatment planning. Recent progress in Medical Large Vision-Language Models (Med-LVLMs) has opened up new possibilities…

Cross-View Geo-Localization (CVGL) between UAV imagery and satellite images plays a crucial role in target localization and UAV self-positioning. However, most existing methods rely on the idealized assumption of scale consistency between…

Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…

This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…

A hierarchical cross-modal fusion model is proposed for vision-language question answering (VLQA) in industrial robotics, targeting the challenges of semantic ambiguity, complex environmental layouts, and domain-specific terminology common…

Recent learning-based approaches have achieved impressive results in the field of single-shot camera localization. However, how best to fuse multiple modalities (e.g., image and depth) and to deal with degraded or missing input are less…