Related papers: Hierarchical Point Attention for Indoor 3D Object …

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…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

Local Transformer-based classification models have recently achieved promising results with relatively low computational costs. However, the effect of aggregating spatial global information of local Transformer-based architecture is not…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Current 3D object detection methods for indoor scenes mainly follow the voting-and-grouping strategy to generate proposals. However, most methods utilize instance-agnostic groupings, such as ball query, leading to inconsistent semantic…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

Vision Transformers (ViT) serve as powerful vision models. Unlike convolutional neural networks, which dominated vision research in previous years, vision transformers enjoy the ability to capture long-range dependencies in the data.…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

3D object detection from LiDAR point cloud is a challenging problem in 3D scene understanding and has many practical applications. In this paper, we extend our preliminary work PointRCNN to a novel and strong point-cloud-based 3D object…

To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…

We investigate the direction of training a 3D object detector for new object classes from only 2D bounding box labels of these new classes, while simultaneously transferring information from 3D bounding box labels of the existing classes.…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

Domain Adaptation (DA) approaches achieved significant improvements in a wide range of machine learning and computer vision tasks (i.e., classification, detection, and segmentation). However, as far as we are aware, there are few methods…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

Existing transformer-based image backbones typically propagate feature information in one direction from lower to higher-levels. This may not be ideal since the localization ability to delineate accurate object boundaries, is most prominent…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

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…

Domain adaptation for object detection (DAOD) has recently drawn much attention owing to its capability of detecting target objects without any annotations. To tackle the problem, previous works focus on aligning features extracted from…