Related papers: CenterAtt: Fast 2-stage Center Attention Network
In an autonomous driving system, it is essential to recognize vehicles, pedestrians and cyclists from images. Besides the high accuracy of the prediction, the requirement of real-time running brings new challenges for convolutional network…
In this technical report, we introduce our winning solution "HorizonLiDAR3D" for the 3D detection track and the domain adaptation track in Waymo Open Dataset Challenge at CVPR 2020. Many existing 3D object detectors include prior-based…
Query-based transformer has shown great potential in constructing long-range attention in many image-domain tasks, but has rarely been considered in LiDAR-based 3D object detection due to the overwhelming size of the point cloud data. In…
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…
This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…
In this technical report, we introduce our submission to the Waymo 3D Detection leaderboard. Our network is based on the Centerpoint architecture, but with significant improvements. We design a 2D backbone to utilize multi-scale features…
3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…
The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…
A practical autonomous driving system urges the need to reliably and accurately detect vehicles and persons. In this report, we introduce a state-of-the-art 2D object detection system for autonomous driving scenarios. Specifically, we…
In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…
This technical report presents the online and real-time 2D and 3D multi-object tracking (MOT) algorithms that reached the 1st places on both Waymo Open Dataset 2D tracking and 3D tracking challenges. An efficient and pragmatic online…
This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…
In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…
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…
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…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
In this report, we introduce our winning solution to the Real-time 3D Detection and also the "Most Efficient Model" in the Waymo Open Dataset Challenges at CVPR 2021. Extended from our last year's award-winning model AFDet, we have made a…
The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…
In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…
3D object detection is an important module in autonomous driving and robotics. However, many existing methods focus on using single frames to perform 3D detection, and do not fully utilize information from multiple frames. In this paper, we…