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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…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Although significant progress has been made, achieving place recognition in environments with perspective changes, seasonal variations, and scene transformations remains challenging. Relying solely on perception information from a single…

Vision Transformer and its variants have demonstrated great potential in various computer vision tasks. But conventional vision transformers often focus on global dependency at a coarse level, which suffer from a learning challenge on…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

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…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…

Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…

Tracking any point (TAP) is a fundamental yet challenging task in computer vision, requiring high precision and long-term motion reasoning. Recent attempts to combine RGB frames and event streams have shown promise, yet they typically rely…

The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…