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At present, the anchor-based or anchor-free models that use LiDAR point clouds for 3D object detection use the center assigner strategy to infer the 3D bounding boxes. However, in a real world scene, the LiDAR can only acquire a limited…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

Deep learning-based change detection (CD) using remote sensing images has received increasing attention in recent years. However, how to effectively extract and fuse the deep features of bi-temporal images for improving the accuracy of CD…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Multi-view face detection in open environment is a challenging task due to diverse variations of face appearances and shapes. Most multi-view face detectors depend on multiple models and organize them in parallel, pyramid or tree structure,…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

This paper explores self-supervised learning of amodal 3D feature representations from RGB and RGB-D posed images and videos, agnostic to object and scene semantic content, and evaluates the resulting scene representations in the downstream…

Although multi-view 3D object detection based on the Bird's-Eye-View (BEV) paradigm has garnered widespread attention as an economical and deployment-friendly perception solution for autonomous driving, there is still a performance gap…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

3D object detection in point clouds is a challenging vision task that benefits various applications for understanding the 3D visual world. Lots of recent research focuses on how to exploit end-to-end trainable Hough voting for generating…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…