Related papers: A Versatile Multi-View Framework for LiDAR-based 3…
3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object…
With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…
We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…
Accurate 3D object detection is a critical component of autonomous driving, enabling vehicles to perceive their surroundings with precision and make informed decisions. LiDAR sensors, widely used for their ability to provide detailed 3D…
In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…
Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…
Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…
This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…
Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…
In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground…
Estimating 3D orientation and translation of objects is essential for infrastructure-less autonomous navigation and driving. In case of monocular vision, successful methods have been mainly based on two ingredients: (i) a network generating…
Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…
This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…
Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…
Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…
3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…
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…
Recently, LSS-based multi-view 3D object detection provides an economical and deployment-friendly solution for autonomous driving. However, all the existing LSS-based methods transform multi-view image features into a Cartesian…
Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…
Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…