Related papers: CG-SSD: Corner Guided Single Stage 3D Object Detec…
State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…
Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…
Accurate 3D object detection from point clouds has become a crucial component in autonomous driving. However, the volumetric representations and the projection methods in previous works fail to establish the relationships between the local…
In this paper, we study the problem of 3D object segmentation from raw point clouds. Unlike all existing methods which usually require a large amount of human annotations for full supervision, we propose the first unsupervised method,…
Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…
Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…
Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…
Monocular 3D object detection is a fundamental but very important task to many applications including autonomous driving, robotic grasping and augmented reality. Existing leading methods tend to estimate the depth of the input image first,…
One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…
3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…
Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…
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…
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.…
Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…
Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…
3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…
In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…
The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…
LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…