Related papers: M3DeTR: Multi-representation, Multi-scale, Mutual-…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

Object perception from multi-view cameras is crucial for intelligent systems, particularly in indoor environments, e.g., warehouses, retail stores, and hospitals. Most traditional multi-target multi-camera (MTMC) detection and tracking…

Multimodal 3D object detection has garnered considerable interest in autonomous driving. However, multimodal detectors suffer from dimension mismatches that derive from fusing 3D points with 2D pixels coarsely, which leads to sub-optimal…

4D millimeter-wave (mmWave) radar has been widely adopted in autonomous driving and robot perception due to its low cost and all-weather robustness. However, point-cloud-based radar representations suffer from information loss due to…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

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…

To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…

Multi-object tracking from LiDAR point clouds presents unique challenges due to the sparse and irregular nature of the data, compounded by the need for temporal coherence across frames. Traditional tracking systems often rely on…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…

In this paper, we investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…

3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Effective point cloud processing is crucial to LiDARbased autonomous driving systems. The capability to understand features at multiple scales is required for object detection of intelligent vehicles, where road users may appear in…

Moving objects have special importance for Autonomous Driving tasks. Detecting moving objects can be posed as Moving Object Segmentation, by segmenting the object pixels, or Moving Object Detection, by generating a bounding box for the…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…