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Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…
In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…
We introduce the notion of point affiliation into feature upsampling. By abstracting a feature map into non-overlapped semantic clusters formed by points of identical semantic meaning, feature upsampling can be viewed as point affiliation…
As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…
We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…
This paper presents a new deep neural network design for salient object detection by maximizing the integration of local and global image context within, around, and beyond the salient objects. Our key idea is to adaptively propagate and…
Most existing CNN-based salient object detection methods can identify local segmentation details like hair and animal fur, but often misinterpret the real saliency due to the lack of global contextual information caused by the…
A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…
Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…
Access to 3D point cloud representations has been widely facilitated by LiDAR sensors embedded in various mobile devices. This has led to an emerging need for fast and accurate point cloud processing techniques. In this paper, we revisit…
Transformer has demonstrated promising performance in many 2D vision tasks. However, it is cumbersome to compute the self-attention on large-scale point cloud data because point cloud is a long sequence and unevenly distributed in 3D space.…
Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…
Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…
We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…
Semi-supervised object detection (SSOD), leveraging unlabeled data to boost object detectors, has become a hot topic recently. However, existing SSOD approaches mainly focus on horizontal objects, leaving oriented objects common in aerial…
Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…
Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…
Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…
In the task of 3D Aerial-view Scene Semantic Segmentation (3D-AVS-SS), traditional methods struggle to address semantic ambiguity caused by scale variations and structural occlusions in aerial images. This limits their segmentation accuracy…
Incremental object detection is fundamentally challenged by catastrophic forgetting. A major factor contributing to this issue is background shift, where background categories in sequential tasks may overlap with either previously learned…