Related papers: PillarNet: Real-Time and High-Performance Pillar-b…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Hyperspectral point clouds (HPCs) can simultaneously characterize 3D spatial and spectral information of ground objects, offering excellent 3D perception and target recognition capabilities. Current approaches for generating HPCs often…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. The state-of-the-art methods directly regress 3D hand meshes from 2D depth images via 2D convolutional neural…

We propose SFMNet, a novel 3D sparse detector that combines the efficiency of sparse convolutions with the ability to model long-range dependencies. While traditional sparse convolution techniques efficiently capture local structures, they…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar…

As a fundamental problem in computer vision, 3D object detection is experiencing rapid growth. To extract the point-wise features from the irregularly and sparsely distributed points, previous methods usually take a feature grouping module…

We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…

Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region…

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 and efficient lane detection in 3D space is essential for autonomous driving systems, where robust generalization is the foremost requirement for 3D lane detection algorithms. Considering the extensive variation in lane structures…

We present a generalized and scalable method, called Gen-LaneNet, to detect 3D lanes from a single image. The method, inspired by the latest state-of-the-art 3D-LaneNet, is a unified framework solving image encoding, spatial transform of…

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data can significantly enhance autonomous driving perception abilities. However, temporal asynchrony and limited wireless communication in traffic environments can lead to…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…