Related papers: AA3DNet: Attention Augmented Real Time 3D Object D…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Training 3D object detectors for autonomous driving has been limited to small datasets due to the effort required to generate annotations. Reducing both task complexity and the amount of task switching done by annotators is key to reducing…

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To…

Currently, existing state-of-the-art 3D object detectors are in two-stage paradigm. These methods typically comprise two steps: 1) Utilize a region proposal network to propose a handful of high-quality proposals in a bottom-up fashion. 2)…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…