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3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

In 3D point cloud understanding, the core challenge lies in accurately capturing discriminative features within complex neighborhoods, which directly affects the execution precision of downstream tasks such as embodied AI and autonomous…

Recently, infrared small target detection has attracted extensive attention. However, due to the small size and the lack of intrinsic features of infrared small targets, the existing methods generally have the problem of inaccurate edge…

Oriented object detection, an emerging task in recent years, aims to identify and locate objects across varied orientations. This requires the detector to accurately capture the orientation information, which varies significantly within and…

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Although recent advances in deep learning accelerated an improvement in a weakly supervised object localization (WSOL) task, there are still challenges to identify the entire body of an object, rather than only discriminative parts. In this…

Applying deep neural networks to 3D point cloud processing has attracted increasing attention due to its advanced performance in many areas, such as AR/VR, autonomous driving, and robotics. However, as neural network models and 3D point…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Object detection is a crucial task for autonomous driving. In addition to requiring high accuracy to ensure safety, object detection for autonomous driving also requires real-time inference speed to guarantee prompt vehicle control, as well…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

3D object classification is a crucial problem due to its significant practical relevance in many fields, including computer vision, robotics, and autonomous driving. Although deep learning methods applied to point clouds sampled on CAD…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper, we propose an end-to-end deep learning network named 3dDepthNet, which produces an accurate dense depth image from a single pair of sparse LiDAR depth and color image for robotics and autonomous driving tasks. Based on the…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…