Related papers: OcTr: Octree-based Transformer for 3D Object Detec…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

We present a novel deep compression algorithm to reduce the memory footprint of LiDAR point clouds. Our method exploits the sparsity and structural redundancy between points to reduce the bitrate. Towards this goal, we first encode the…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable…

3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…

Transformers have been successful in many vision tasks, thanks to their capability of capturing long-range dependency. However, their quadratic computational complexity poses a major obstacle for applying them to vision tasks requiring…

Incremental object detection (IOD) aims to sequentially learn new classes, while maintaining the capability to locate and identify old ones. As the training data arrives with annotations only with new classes, IOD suffers from catastrophic…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

Monocular 3D object detection has long been a challenging task in autonomous driving. Most existing methods follow conventional 2D detectors to first localize object centers, and then predict 3D attributes by neighboring features. However,…

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

When introducing physics-constrained deep learning solutions to the volumetric super-resolution of scientific data, the training is challenging to converge and always time-consuming. We propose a new hierarchical sampling method based on…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

3D object detection is a crucial research topic in computer vision, which usually uses 3D point clouds as input in conventional setups. Recently, there is a trend of leveraging multiple sources of input data, such as complementing the 3D…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…