Vehicle-centric Perception via Multimodal Structured Pre-training

Wentao Wu; Xiao Wang; Chenglong Li; Jin Tang; Bin Luo

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arXiv · 2512.19934

Vehicle-centric Perception via Multimodal Structured Pre-training

Wentao Wu·Xiao Wang·Chenglong Li·Jin Tang·Bin Luo

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Abstract

Vehicle-centric perception plays a crucial role in many intelligent systems, including large-scale surveillance systems, intelligent transportation, and autonomous driving. Existing approaches lack effective learning of vehicle-related knowledge during pre-training, resulting in poor capability for modeling general vehicle perception representations. To handle this problem, we propose VehicleMAE-V2, a novel vehicle-centric pre-trained large model. By exploring and exploiting vehicle-related multimodal structured priors to guide the masked token reconstruction process, our approach can significantly enhance the model's capability to learn generalizable representations for vehicle-centric perception. Specifically, we design the Symmetry-guided Mask Module (SMM), Contour-guided Representation Module (CRM) and Semantics-guided Representation Module (SRM) to incorporate three kinds of structured priors into token reconstruction including symmetry, contour and semantics of vehicles respectively. SMM utilizes the vehicle symmetry constraints to avoid retaining symmetric patches and can thus select high-quality masked image patches and reduce information redundancy. CRM minimizes the probability distribution divergence between contour features and reconstructed features and can thus preserve holistic vehicle structure information during pixel-level reconstruction. SRM aligns image-text features through contrastive learning and cross-modal distillation to address the feature confusion caused by insufficient semantic understanding during masked reconstruction. To support the pre-training of VehicleMAE-V2, we construct Autobot4M, a large-scale dataset comprising approximately 4 million vehicle images and 12,693 text descriptions. Extensive experiments on five downstream tasks demonstrate the superior performance of VehicleMAE-V2.

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BibTeX RIS

Wentao Wu, Xiao Wang, Chenglong Li, Jin Tang, Bin Luo. 2025-12-22. Vehicle-centric Perception via Multimodal Structured Pre-training. https://arxiv.org/abs/2512.19934

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