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Single Object Tracking in LiDAR point cloud is one of the most essential parts of environmental perception, in which small objects are inevitable in real-world scenarios and will bring a significant barrier to the accurate location.…

3D Single Object Tracking (SOT) stands a forefront task of computer vision, proving essential for applications like autonomous driving. Sparse and occluded data in scene point clouds introduce variations in the appearance of tracked…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Part mobility analysis is a significant aspect required to achieve a functional understanding of 3D objects. It would be natural to obtain part mobility from the continuous part motion of 3D objects. In this study, we introduce a…

3D LiDAR-based single object tracking (SOT) has gained increasing attention as it plays a crucial role in 3D applications such as autonomous driving. The central problem is how to learn a target-aware representation from the sparse and…

Single object tracking (SOT) is currently one of the most important tasks in computer vision. With the development of the deep network and the release for a series of large scale datasets for single object tracking, siamese networks have…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

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…

Towards 3D object tracking in point clouds, a novel point-to-box network termed P2B is proposed in an end-to-end learning manner. Our main idea is to first localize potential target centers in 3D search area embedded with target…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

3D single object tracking has been a crucial problem for decades with numerous applications such as autonomous driving. Despite its wide-ranging use, this task remains challenging due to the significant appearance variation caused by…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Current 3D single object tracking approaches track the target based on a feature comparison between the target template and the search area. However, due to the common occlusion in LiDAR scans, it is non-trivial to conduct accurate feature…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…