Related papers: 3D Annotation Of Arbitrary Objects In The Wild

This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment is challenging since the ground and the trees are…

This paper provides a review of deep learning applications in scene understanding in autonomous robots, including innovations in object detection, semantic and instance segmentation, depth estimation, 3D reconstruction, and visual SLAM. It…

Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…

This paper presents a real-time segmentation and reconstruction system that utilizes RGB-D images to generate accurate and detailed individual 3D models of objects within a captured scene. Leveraging state-of-the-art instance segmentation…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

End-to-end differentiable learning for autonomous driving (AD) has recently become a prominent paradigm. One main bottleneck lies in its voracious appetite for high-quality labeled data e.g. 3D bounding boxes and semantic segmentation,…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

This work studies semantic segmentation using 3D LiDAR data. Popular deep learning methods applied for this task require a large number of manual annotations to train the parameters. We propose a new method that makes full use of the…

Training neural networks to perform 3D object detection for autonomous driving requires a large amount of diverse annotated data. However, obtaining training data with sufficient quality and quantity is expensive and sometimes impossible…

Training data is a critical requirement for machine learning tasks, and labeled training data can be expensive to acquire, often requiring manual or semi-automated data collection pipelines. For tracking applications, the data collection…

In the era of big data and large models, automatic annotating functions for multi-modal data are of great significance for real-world AI-driven applications, such as autonomous driving and embodied AI. Unlike traditional closed-set…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

The image-based 3D object detection task expects that the predicted 3D bounding box has a ``tightness'' projection (also referred to as cuboid), which fits the object contour well on the image while still keeping the geometric attribute on…

State-of-the-art learning based boundary detection methods require extensive training data. Since labelling object boundaries is one of the most expensive types of annotations, there is a need to relax the requirement to carefully annotate…

Numerous advancements in deep learning can be attributed to the access to large-scale and well-annotated datasets. However, such a dataset is prohibitively expensive in 3D computer vision due to the substantial collection cost. To alleviate…

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…

One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…

Zero-shot 3D object classification is crucial for real-world applications like autonomous driving, however it is often hindered by a significant domain gap between the synthetic data used for training and the sparse, noisy LiDAR scans…

We present 3DMiner -- a pipeline for mining 3D shapes from challenging large-scale unannotated image datasets. Unlike other unsupervised 3D reconstruction methods, we assume that, within a large-enough dataset, there must exist images of…