Related papers: Label-Guided Auxiliary Training Improves 3D Object…

While numerous 3D detection works leverage the complementary relationship between RGB images and point clouds, developments in the broader framework of semi-supervised object recognition remain uninfluenced by multi-modal fusion. Current…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

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…

SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

Monocular 3D object detection is a cost-effective solution for applications like autonomous driving and robotics, but remains fundamentally ill-posed due to inherently ambiguous depth cues. Recent DETR-based methods attempt to mitigate this…

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…

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

Multi-class 3D object detection aims to localize and classify objects of multiple categories from point clouds. Due to the nature of point clouds, i.e. unstructured, sparse and noisy, some features benefit-ting multi-class discrimination…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Out-of-distribution (OOD) detection in 3D point cloud data remains a challenge, particularly in applications where safe and robust perception is critical. While existing OOD detection methods have shown progress for 2D image data, extending…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

LiDAR based 3D object detectors typically need a large amount of detailed-labeled point cloud data for training, but these detailed labels are commonly expensive to acquire. In this paper, we propose a manual-label free 3D detection…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is especially important for semantic segmentation tasks involving 3D datasets that are often significantly…

Curb detection is essential for environmental awareness in Automated Driving (AD), as it typically limits drivable and non-drivable areas. Annotated data are necessary for developing and validating an AD function. However, the number of…