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As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

Three-dimensional (3D) shape measurement devices and techniques are being rapidly adopted within a variety of industries and applications. As acquiring 3D range data becomes faster and more accurate it becomes more challenging to…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

Multi-view 3D detection with bird's eye view (BEV) is crucial for autonomous driving and robotics, but its robustness in real-world is limited as it struggles to predict accurate depth values. A mainstream solution, cross-modal…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

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…

Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily…

The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…

Existing rotated object detectors are mostly inherited from the horizontal detection paradigm, as the latter has evolved into a well-developed area. However, these detectors are difficult to perform prominently in high-precision detection…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…

Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection…

In this paper, we propose a novel 3D graph convolution based pipeline for category-level 6D pose and size estimation from monocular RGB-D images. The proposed method leverages an efficient 3D data augmentation and a novel vector-based…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Millimeter-wave radar offers a promising sensing modality for autonomous systems thanks to its robustness in adverse conditions and low cost. However, its utility is significantly limited by the sparsity and low resolution of radar point…

In this paper, we propose to exploit the rich hierarchical features of deep convolutional neural networks to improve the accuracy and robustness of visual tracking. Deep neural networks trained on object recognition datasets consist of…

As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object detectors often build dense feature maps, where the cost is…