18 citations · 31 across the 29 of their papers we have counts for
17 papers · 1 filter
iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion
Hao Wang, Linqing Zhao, Xiuwei Xu +2
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single i…
Pseudo Depth Meets Gaussian: A Feed-forward RGB SLAM Baseline
Linqing Zhao, Xiuwei Xu, Yirui Wang +5
Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing method…
IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigation
Wenxuan Guo, Xiuwei Xu, Hang Yin +4
Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topologica…
EfficientLLaVA:Generalizable Auto-Pruning for Large Vision-language Models
Yinan Liang, Ziwei Wang, Xiuwei Xu +2
While multimodal large language models demonstrate strong performance in complex reasoning tasks, they pose significant challenges related to model complexity during deployment, es…
UniGoal: Towards Universal Zero-shot Goal-oriented Navigation
Hang Yin, Xiuwei Xu, Lingqing Zhao +3
In this paper, we propose a general framework for universal zero-shot goal-oriented navigation. Existing zero-shot methods build inference framework upon large language models (LLM…
TSP3D: Text-guided Sparse Voxel Pruning for Efficient 3D Visual Grounding
Wenxuan Guo, Xiuwei Xu, Ziwei Wang +3
In this paper, we propose an efficient multi-level convolution architecture for 3D visual grounding. Conventional methods are difficult to meet the requirements of real-time infere…
SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation
Hang Yin, Xiuwei Xu, Zhenyu Wu +2
In this paper, we propose a new framework for zero-shot object navigation. Existing zero-shot object navigation methods prompt LLM with the text of spatially closed objects, which…
Q-VLM: Post-training Quantization for Large Vision-Language Models
Changyuan Wang, Ziwei Wang, Xiuwei Xu +3
In this paper, we propose a post-training quantization framework of large vision-language models (LVLMs) for efficient multi-modal inference. Conventional quantization methods sequ…
EmbodiedSAM: Online Segment Any 3D Thing in Real Time
Xiuwei Xu, Huangxing Chen, Linqing Zhao +3
Embodied tasks require the agent to fully understand 3D scenes simultaneously with its exploration, so an online, real-time, fine-grained and highly-generalized 3D perception model…
Memory-based Adapters for Online 3D Scene Perception
Xiuwei Xu, Chong Xia, Ziwei Wang +4
In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometr…
MCUFormer: Deploying Vision Transformers on Microcontrollers with Limited Memory
Yinan Liang, Ziwei Wang, Xiuwei Xu +3
Due to the high price and heavy energy consumption of GPUs, deploying deep models on IoT devices such as microcontrollers makes significant contributions for ecological AI. Convent…
Anyview: Generalizable Indoor 3D Object Detection with Variable Frames
Zhenyu Wu, Xiuwei Xu, Ziwei Wang +4
In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fix…
Embodied Task Planning with Large Language Models
Zhenyu Wu, Ziwei Wang, Xiuwei Xu +2
Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) c…
Towards Accurate Post-training Quantization for Diffusion Models
Changyuan Wang, Ziwei Wang, Xiuwei Xu +3
In this paper, we propose an accurate data-free post-training quantization framework of diffusion models (ADP-DM) for efficient image generation. Conventional data-free quantizatio…
3D Small Object Detection with Dynamic Spatial Pruning
Xiuwei Xu, Zhihao Sun, Ziwei Wang +3
In this paper, we propose an efficient feature pruning strategy for 3D small object detection. Conventional 3D object detection methods struggle on small objects due to the weak ge…
Binarizing Sparse Convolutional Networks for Efficient Point Cloud Analysis
Xiuwei Xu, Ziwei Wang, Jie Zhou +1
In this paper, we propose binary sparse convolutional networks called BSC-Net for efficient point cloud analysis. We empirically observe that sparse convolution operation causes la…
Back to Reality: Weakly-supervised 3D Object Detection with Shape-guided Label Enhancement
Xiuwei Xu, Yifan Wang, Yu Zheng +3
In this paper, we propose a weakly-supervised approach for 3D object detection, which makes it possible to train a strong 3D detector with position-level annotations (i.e. annotati…