Related papers: EPNet: Enhancing Point Features with Image Semanti…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…

Recently, there has been a panoptic segmentation task combining semantic and instance segmentation, in which the goal is to classify each pixel with the corresponding instance ID. In this work, we propose a solution to tackle the panoptic…

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…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Robust point cloud classification is crucial for real-world applications, as consumer-type 3D sensors often yield partial and noisy data, degraded by various artifacts. In this work we propose a general ensemble framework, based on partial…

In recent years, monocular depth estimation is applied to understand the surrounding 3D environment and has made great progress. However, there is an ill-posed problem on how to gain depth information directly from a single image. With the…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

To train a well performing neural network for semantic segmentation, it is crucial to have a large dataset with available ground truth for the network to generalize on unseen data. In this paper we present novel point cloud augmentation…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Adverse weather conditions such as haze, rain, and snow often impair the quality of captured images, causing detection networks trained on normal images to generalize poorly in these scenarios. In this paper, we raise an intriguing question…

Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Capturing both local and global features of irregular point clouds is essential to 3D object detection (3OD). However, mainstream 3D detectors, e.g., VoteNet and its variants, either abandon considerable local features during pooling…

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…