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3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Recent works have demonstrated the importance of object completion in 3D Perception from Lidar signal. Several methods have been proposed in which modules were used to densify the point clouds produced by laser scanners, leading to better…

Reconstructing a high-resolution 3D model of an object is a challenging task in computer vision. Designing scalable and light-weight architectures is crucial while addressing this problem. Existing point-cloud based reconstruction…

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…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

Cross-category anomaly detection for 3D point clouds aims to determine whether an unseen object belongs to a target category using only a few normal examples. Most existing methods rely on category-specific training, which limits their…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

We present PI3DETR, an end-to-end framework that directly predicts 3D parametric curve instances from raw point clouds, avoiding the intermediate representations and multi-stage processing common in prior work. Extending 3DETR, our model…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Small object detection remains a significant challenge due to feature degradation from downsampling, mutual occlusion in dense clusters, and complex background interference. To address these issues, this paper proposes FSDETR, a…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

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…

Pointly Supervised Object Detection (PSOD) has attracted considerable interests due to its lower labeling cost as compared to box-level supervised object detection. However, the complex scenes, densely packed and dynamic-scale objects in…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…