Related papers: CG-SSD: Corner Guided Single Stage 3D Object Detec…

3D object detection from a single image without LiDAR is a challenging task due to the lack of accurate depth information. Conventional 2D convolutions are unsuitable for this task because they fail to capture local object and its scale…

In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

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…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Object detection generally requires sliding-window classifiers in tradition or anchor box based predictions in modern deep learning approaches. However, either of these approaches requires tedious configurations in boxes. In this paper, we…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Lung nodule detection from 3D Computed Tomography scans plays a vital role in efficient lung cancer screening. Despite the SOTA performance obtained by recent anchor-based detectors using CNNs for this task, they require predetermined…

Convolutional neural networks (CNNs) have long been the cornerstone of target detection, but they are often limited by limited receptive fields, which hinders their ability to capture global contextual information. We re-examined the…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

SSD is one of the state-of-the-art object detection algorithms, and it combines high detection accuracy with real-time speed. However, it is widely recognized that SSD is less accurate in detecting small objects compared to large objects,…