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LIDAR point clouds and RGB-images are both extremely essential for 3D object detection. So many state-of-the-art 3D detection algorithms dedicate in fusing these two types of data effectively. However, their fusion methods based on Birds…

The PointHop method was recently proposed by Zhang et al. for 3D point cloud classification with unsupervised feature extraction. It has an extremely low training complexity while achieving state-of-the-art classification performance. In…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works…

3D object classification is a crucial problem due to its significant practical relevance in many fields, including computer vision, robotics, and autonomous driving. Although deep learning methods applied to point clouds sampled on CAD…

Unsupervised point cloud shape correspondence aims to establish point-wise correspondences between source and target point clouds. Existing methods obtain correspondences directly by computing point-wise feature similarity between point…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily…

Our MATE is the first Test-Time-Training (TTT) method designed for 3D data, which makes deep networks trained for point cloud classification robust to distribution shifts occurring in test data. Like existing TTT methods from the 2D image…

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and…

Adverse weather (rain, fog, sand, and snow) degrades camera-based object detection in autonomous vehicles. Existing enhancement-then-detect approaches stall the safety-critical perception loop, violating hard real-time requirements.…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…