arXiv:2609.18363v1 Announce Type: new Abstract: Online multi camera 3D tracking must maintain scene global identities across synchronized views, yet query-based trackers carry these identities only i...
The paper introduces TFA, a training‑free aggregation technique that calibrates frozen visual foundation models for visual place recognition. TFA uses cross‑codebook agreement, retrieval coverage, and spectral statistics to adjust residual assignment, spectral shaping, and global‑feature fusion without requiring place labels or task‑specific weights. Experiments with a DINOv2‑B backbone show significant Recall@1 gains over existing training‑free methods across multiple benchmarks, demonstrating that reliability‑guided aggregation can unlock additional retrieval performance from frozen representations.
Frozen visual foundation models provide transferable features for visual place recognition, but fixed aggregation can suppress useful distinctions in new environments. We introduce TFA, a reliability-...
arXiv:2610.08573v1 Announce Type: new Abstract: Cooperative perception improves autonomous driving by sharing complementary observations among vehicles and roadside infrastructure for 3D object detec...
arXiv:2509. 08421v2 Announce Type: replace-cross Abstract: For multimedia spatial intelligence through time, multi-view multi-object tracking (MVMOT) suffers from persistent challenges in maintaining consistent object identities across different camera views, leading to tracking inaccuracies.
BOLT is a lightweight plug‑and‑play module that enables preparation‑free heterogeneous cooperative perception by adapting neighboring features online through ego‑as‑teacher distillation. It requires only ego predictions, no ground‑truth labels, and uses high‑confidence ego features to align cross‑agent feature domains while allowing neighbors to contribute in low‑confidence regions. With just 0.9 M trainable parameters, BOLT boosts AP@50 by up to 32.3 points over unadapted fusion and consistently outperforms ego‑only results on DAIR‑V2X and OPV2V.
MatchFusion is a learnable module that performs explicit-implicit instance matching for spatio‑temporal multimodal autonomous driving. It initializes pairwise affinities with geometric similarity and category consistency, then refines associations using instance embeddings to guide a residual aggregation operator for adaptive information exchange. Experiments on nuScenes show that MatchFusion improves perception accuracy, reduces FLOPs by 55.3% and GPU memory usage by 39.3%, and adds only 3.7% of total perception latency.
PEARL is a lightweight, prompt‑embedding framework designed for real‑time, anonymous, and heterogeneous collaborative perception. It uses two parallel, low‑rank visual prompt interpreters—sparse‑detection (LWSD) and dense, domain‑invariant (LWDDI)—to align features and select the appropriate interpreter for newly joining agents without needing their configurations. Experiments on simulated and real datasets show that PEARL improves average precision by 8.2% over random selection, runs in 1.67 ms, and reduces communication cost by up to 34.7× while outperforming state‑of‑the‑art offline methods by 5.6% AP.
The paper introduces the concept of protocol divergence, showing that identical nominal missing rates can lead to vastly different learning regimes in incomplete multi‑view clustering. It critiques existing evaluation practices that ignore observation structure and proposes CRAFT, a train‑once framework that fuses observed views with mask‑aware attention, enabling efficient deployment across multiple missing‑view protocols. Experiments on CUB, MultiFashion, and other benchmarks demonstrate CRAFT’s superior performance and significant computational savings through checkpoint reuse.
FedCKA introduces a Centered Kernel Alignment (CKA)-based method for federated 3D perception that dynamically balances personalization and globalization. By computing layer-wise feature similarities between local client models and a global consensus model, FedCKA generates client‑specific aggregation masks to selectively share representation‑consistent layers. Experiments on a unified multi‑domain nuScenes benchmark demonstrate that FedCKA surpasses established federated baselines, improving average NDS by 7 percentage points.
HeteroPROMPT is a real‑time, privacy‑preserving framework for heterogeneous collaborative perception in autonomous systems. It aligns features from diverse sensors and models into a unified ego‑centric space using modular prompts and lightweight tuning, while keeping encoders and fusion stacks frozen. The system employs a metadata‑free autoencoder for modality classification and routing, achieving higher average precision on OPV2V‑H and V2XSet datasets with far fewer trainable parameters.
arXiv:2606.03406v2 Announce Type: replace Abstract: Reliable correspondence estimation supports image processing and 3D vision tasks, including Structure from Motion, visual localization, and image r...