相关论文: FoundObj: Self-supervised Foundation Models as Rew…

In this paper we set out to solve the task of 6-DOF 3D object detection from 2D images, where the only supervision is a geometric representation of the objects we aim to find. In doing so, we remove the need for 6-DOF labels (i.e.,…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

Instance segmentation has attracted recent attention in computer vision and existing methods in this domain mostly have an object detection stage. In this paper, we study the intrinsic challenge of the instance segmentation problem, the…

In this thesis we discuss architectural designs and training methods for a neural network to have the ability of dissecting an image into objects of interest without supervision. The main challenge in 2D unsupervised object segmentation is…

Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In the vision community, prior work primarily focuses on learning object affordance with dense (e.g., at a…

Learning object segmentation in image and video datasets without human supervision is a challenging problem. Humans easily identify moving salient objects in videos using the gestalt principle of common fate, which suggests that what moves…

3D object detection is a core perceptual challenge for robotics and autonomous driving. However, the class-taxonomies in modern autonomous driving datasets are significantly smaller than many influential 2D detection datasets. In this work,…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Modern 3D object detection datasets are constrained by narrow class taxonomies and costly manual annotations, limiting their ability to scale to open-world settings. In contrast, 2D vision-language models trained on web-scale image-text…

We propose SegVec3D, a novel framework for 3D point cloud instance segmentation that integrates attention mechanisms, embedding learning, and cross-modal alignment. The approach builds a hierarchical feature extractor to enhance geometric…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

Understanding objects in terms of their individual parts is important, because it enables a precise understanding of the objects' geometrical structure, and enhances object recognition when the object is seen in a novel pose or under…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

While numerous 3D detection works leverage the complementary relationship between RGB images and point clouds, developments in the broader framework of semi-supervised object recognition remain uninfluenced by multi-modal fusion. Current…

It is challenging to train a robust object detector under the supervised learning setting when the annotated data are scarce. Thus, previous approaches tackling this problem are in two categories: semi-supervised learning models that…

The recent rise of unsupervised and self-supervised learning has dramatically reduced the dependency on labeled data, providing effective image representations for transfer to downstream vision tasks. Furthermore, recent works employed…

Current LiDAR-based 3D object detectors for autonomous driving are almost entirely trained on human-annotated data collected in specific geographical domains with specific sensor setups, making it difficult to adapt to a different domain.…

Implicit neural fields have made remarkable progress in reconstructing 3D surfaces from multiple images; however, they encounter challenges when it comes to separating individual objects within a scene. Previous work has attempted to tackle…