Related papers: To the Point: Efficient 3D Object Detection in the…

The majority of descriptor-based methods for geometric processing of non-rigid shape rely on hand-crafted descriptors. Recently, learning-based techniques have been shown effective, achieving state-of-the-art results in a variety of tasks.…

The enhancement of 3D object detection is pivotal for precise environmental perception and improved task execution capabilities in autonomous driving. LiDAR point clouds, offering accurate depth information, serve as a crucial information…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

PointPillars is the fastest 3D object detector that exploits pseudo image representations to encode features for 3D objects in a scene. Albeit efficient, PointPillars is typically outperformed by state-of-the-art 3D detection methods due to…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Pixel-level 2D object semantic understanding is an important topic in computer vision and could help machine deeply understand objects (e.g. functionality and affordance) in our daily life. However, most previous methods directly train on…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

Convolutional neural networks are state-of-the-art for various segmentation tasks. While for 2D images these networks are also computationally efficient, 3D convolutions have huge storage requirements and require long training time. To…

Convolutional neural networks have shown great success on feature extraction from raw input data such as images. Although convolutional neural networks are invariant to translations on the inputs, they are not invariant to other…

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…

Convolution kernels are the basic structural component of convolutional neural networks (CNNs). In the last years there has been a growing interest in fisheye cameras for many applications. However, the radially symmetric projection model…

The convolution operator at the core of many modern neural architectures can effectively be seen as performing a dot product between an input matrix and a filter. While this is readily applicable to data such as images, which can be…

The task of object segmentation in videos is usually accomplished by processing appearance and motion information separately using standard 2D convolutional networks, followed by a learned fusion of the two sources of information. On the…

When solving a segmentation task, shaped-base methods can be beneficial compared to pixelwise classification due to geometric understanding of the target object as shape, preventing the generation of anatomical implausible predictions in…

State-of-the-art machine-learning methods for event cameras treat events as dense representations and process them with conventional deep neural networks. Thus, they fail to maintain the sparsity and asynchronous nature of event data,…

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…

Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR…

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…

Convolutional networks are not aware of an object's geometric variations, which leads to inefficient utilization of model and data capacity. To overcome this issue, recent works on deformation modeling seek to spatially reconfigure the data…