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Camera, LiDAR and radar are common perception sensors for autonomous driving tasks. Robust prediction of 3D object detection is optimally based on the fusion of these sensors. To exploit their abilities wisely remains a challenge because…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

Learning global features by aggregating information over multiple views has been shown to be effective for 3D shape analysis. For view aggregation in deep learning models, pooling has been applied extensively. However, pooling leads to a…

Monocular 3D object detection is challenging due to the lack of accurate depth. However, existing depth-assisted solutions still exhibit inferior performance, whose reason is universally acknowledged as the unsatisfactory accuracy of…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

Many query-based approaches for 3D Multi-Object Tracking (MOT) adopt the tracking-by-attention paradigm, utilizing track queries for identity-consistent detection and object queries for identity-agnostic track spawning.…

The introduction of DETR represents a new paradigm for object detection. However, its decoder conducts classification and box localization using shared queries and cross-attention layers, leading to suboptimal results. We observe that…

3D vector graphics play a crucial role in various applications including 3D shape retrieval, conceptual design, and virtual reality interactions due to their ability to capture essential structural information with minimal representation.…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Existing multi-modal 3D detection models usually involve customized designs depending on the sensor combinations or setups. In this…

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…

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;…

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…

We introduce a highly performant 3D object detector for point clouds using the DETR framework. The prior attempts all end up with suboptimal results because they fail to learn accurate inductive biases from the limited scale of training…

3D object detection from images, one of the fundamental and challenging problems in autonomous driving, has received increasing attention from both industry and academia in recent years. Benefiting from the rapid development of deep…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…