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NanoMVG: USV-Centric Low-Power Multi-Task Visual Grounding based on Prompt-Guided Camera and 4D mmWave Radar
- Publication Year :
- 2024
-
Abstract
- Recently, visual grounding and multi-sensors setting have been incorporated into perception system for terrestrial autonomous driving systems and Unmanned Surface Vehicles (USVs), yet the high complexity of modern learning-based visual grounding model using multi-sensors prevents such model to be deployed on USVs in the real-life. To this end, we design a low-power multi-task model named NanoMVG for waterway embodied perception, guiding both camera and 4D millimeter-wave radar to locate specific object(s) through natural language. NanoMVG can perform both box-level and mask-level visual grounding tasks simultaneously. Compared to other visual grounding models, NanoMVG achieves highly competitive performance on the WaterVG dataset, particularly in harsh environments and boasts ultra-low power consumption for long endurance.<br />Comment: 8 pages, 6 figures
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2408.17207
- Document Type :
- Working Paper