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Deep neural networks are playing an important role in state-of-the-art visual recognition. To represent high-level visual concepts, modern networks are equipped with large convolutional layers, which use a large number of filters and…

Convolutional neural networks have recently shown excellent results in general object detection and many other tasks. Albeit very effective, they involve many user-defined design choices. In this paper we want to better understand these…

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…

The analysis of 3D point clouds has diverse applications in robotics, vision and graphics. Processing them presents specific challenges since they are naturally sparse, can vary in spatial resolution and are typically unordered. Graph-based…

Deep neural networks have faced many problems in hyperspectral image classification, including the ineffective utilization of spectral-spatial joint information and the problems of gradient vanishing and overfitting that arise with…

The recently proposed pseudo-LiDAR based 3D detectors greatly improve the benchmark of monocular/stereo 3D detection task. However, the underlying mechanism remains obscure to the research community. In this paper, we perform an in-depth…

Convolutional neural networks (CNNs) have achieved great success on grid-like data such as images, but face tremendous challenges in learning from more generic data such as graphs. In CNNs, the trainable local filters enable the automatic…

Monocular 3D object detection is a challenging task in the self-driving and computer vision community. As a common practice, most previous works use manually annotated 3D box labels, where the annotating process is expensive. In this paper,…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Object Detection is related to Computer Vision. Object detection enables detecting instances of objects in images and videos. Due to its increased utilization in surveillance, tracking system used in security and many others applications…

In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of…

Existing techniques to encode spatial invariance within deep convolutional neural networks only model 2D transformation fields. This does not account for the fact that objects in a 2D space are a projection of 3D ones, and thus they have…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

3D object detection with a single image is an essential and challenging task for autonomous driving. Recently, keypoint-based monocular 3D object detection has made tremendous progress and achieved great speed-accuracy trade-off. However,…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

Crowdsourced 3D CAD models are becoming easily accessible online, and can potentially generate an infinite number of training images for almost any object category.We show that augmenting the training data of contemporary Deep Convolutional…

Most modern convolutional neural networks (CNNs) used for object recognition are built using the same principles: Alternating convolution and max-pooling layers followed by a small number of fully connected layers. We re-evaluate the state…

A number of applications, such as mobile robots or automated vehicles, use LiDAR sensors to obtain detailed information about their three-dimensional surroundings. Many methods use image-like projections to efficiently process these LiDAR…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…