提升指物检测的方位感知能力,解决远距离与密集物体定位不准问题。
VistaRef: Boosting Visual Spatial Orientation Awareness for Pointing-to-Object Detection

- 通过手部姿态嵌入增强微几何关系捕捉能力
- 构建几何射线模块显式建模指向方向,提升定位精度14个百分点
- 适合增强AR与人机协作中的空间交互性能
在自然图像中定位指物动作是增强现实和人机协作的基础,为无缝空间交互提供支持。尽管基于Transformer的视觉模型在通用目标检测上取得进展,但其全局注意力机制常忽略微观几何关系,导致指物任务中难以准确捕捉手指姿态隐含的指向射线,进而引发远距离或密集物体下的指向漂移与定位模糊。为此,我们提出VistaRef框架,显式增强空间方位感知。首先,设计局部手部实体建模(LHEM)模块,引入手部姿态嵌入以强化对细微指位偏移的捕捉。其次,借鉴多视图几何思想,构建几何射线建模(GRM)模块,将隐含的方向信息转化为显式的空间几何特征,通过注意力机制引导特征聚合与深度融合。此外,提出新颖的方向一致性对齐损失(OCAL),协同监督手部存在性与指向一致性,确保所有改进共同服务于空间定位核心目标。实验表明,VistaRef显著优于基线,在定位准确率上实现14个百分点的绝对提升。定性分析进一步证实,VistaRef有效建模从手到目标的几何关联,弥补了传统Transformer在复杂场景下的空间感知缺陷。代码已开源:https://github.com/lingli1724/VistaRef。
原文摘要 · Abstract (English)
Grounding deictic gestures in natural images is fundamental to AR and human-robot collaboration, providing a basis for seamless spatial interaction. While Transformer-based visual models have achieved significant progress in general object detection, their global attention mechanisms often neglect micro-geometric relationships, degrading orientation accuracy. In pointing tasks, this deficiency manifests as an inability to accurately capture the pointing ray implied by finger poses, which results in pointing drift and localization ambiguity when dealing with distant or densely packed objects. To address this, we propose VistaRef, a framework designed to explicitly enhance spatial orientation awareness. First, we develop the Local Hand Entity Modeling (LHEM) module, which incorporates hand-pose embeddings to strengthen the model's capability to capture subtle finger deviations. Second, drawing inspiration from multi-view geometry, we construct the Geometric Ray Modeling (GRM) module to transform implicit orientation information into explicit spatial geometric features, guiding feature aggregation and deep fusion via attention mechanisms. Furthermore, we introduce a novel Orientation-Consistent Alignment Loss (OCAL) to synergistically supervise hand presence and pointing consistency, ensuring that all architectural improvements collectively serve the core objective of spatial localization. Experimental results demonstrate that VistaRef significantly outperforms the baseline, achieving a 14-point absolute gain in grounding accuracy. Qualitative analysis further confirms that VistaRef effectively models the geometric correlation from hand to target, bridging the spatial perception gap inherent in traditional Transformers for complex scenarios. Code: https://github.com/lingli1724/VistaRef.
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