Related papers: Graph Neural Network and Spatiotemporal Transforme…

Existing LiDAR-based 3D object detectors usually focus on the single-frame detection, while ignoring the spatiotemporal information in consecutive point cloud frames. In this paper, we propose an end-to-end online 3D video object detector…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Despite significant progress in 3D object detection, point clouds remain challenging due to sparse data, incomplete structures, and limited semantic information. Capturing contextual relationships between distant objects presents additional…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

The Detection Transformer (DETR) has revolutionized the design of CNN-based object detection systems, showcasing impressive performance. However, its potential in the domain of multi-frame 3D object detection remains largely unexplored. In…

We propose ST-DETR, a Spatio-Temporal Transformer-based architecture for object detection from a sequence of temporal frames. We treat the temporal frames as sequences in both space and time and employ the full attention mechanisms to take…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

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…

Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…

In autonomous driving and robotics, there is a growing interest in utilizing short-term historical data to enhance multi-camera 3D object detection, leveraging the continuous and correlated nature of input video streams. Recent work has…

In this paper, we present new feature encoding methods for Detection of 3D objects in point clouds. We used a graph neural network (GNN) for Detection of 3D objects namely cars, pedestrians, and cyclists. Feature encoding is one of the…

Graph convolutional networks (GCNs) have been widely used and achieved remarkable results in skeleton-based action recognition. We think the key to skeleton-based action recognition is a skeleton hanging in frames, so we focus on how the…

In this paper, we focus on exploring the robustness of the 3D object detection in point clouds, which has been rarely discussed in existing approaches. We observe two crucial phenomena: 1) the detection accuracy of the hard objects, e.g.,…