Related papers: Center-based 3D Object Detection and Tracking

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

Object class detection has been a synonym for 2D bounding box localization for the longest time, fueled by the success of powerful statistical learning techniques, combined with robust image representations. Only recently, there has been a…

Lidar based 3D object detection and classification tasks are essential for automated driving(AD). A Lidar sensor can provide the 3D point coud data reconstruction of the surrounding environment. But the detection in 3D point cloud still…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

The perception system in autonomous vehicles is responsible for detecting and tracking the surrounding objects. This is usually done by taking advantage of several sensing modalities to increase robustness and accuracy, which makes sensor…

There are two mainstreams for object detection: top-down and bottom-up. The state-of-the-art approaches mostly belong to the first category. In this paper, we demonstrate that the bottom-up approaches are as competitive as the top-down and…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

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…

In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

Current 3D object detection methods are heavily influenced by 2D detectors. In order to leverage architectures in 2D detectors, they often convert 3D point clouds to regular grids (i.e., to voxel grids or to bird's eye view images), or rely…

Labeling data to use for training object detectors is expensive and time consuming. Publicly available overhead datasets for object detection are labeled with image-aligned bounding boxes, object-aligned bounding boxes, or object masks, but…