Related papers: LinK: Linear Kernel for LiDAR-based 3D Perception
We present a novel approach for oriented object detection, named TricubeNet, which localizes oriented objects using visual cues ($i.e.,$ heatmap) instead of oriented box offsets regression. We represent each object as a 2D Tricube kernel…
Recent advances in 3D sensing have created unique challenges for computer vision. One fundamental challenge is finding a good representation for 3D sensor data. Most popular representations (such as PointNet) are proposed in the context of…
We present Neural Kernel Fields: a novel method for reconstructing implicit 3D shapes based on a learned kernel ridge regression. Our technique achieves state-of-the-art results when reconstructing 3D objects and large scenes from sparse…
This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…
We present a geometric formulation of the Multiple Kernel Learning (MKL) problem. To do so, we reinterpret the problem of learning kernel weights as searching for a kernel that maximizes the minimum (kernel) distance between two convex…
With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…
We consider the problem of metric learning for multi-view data and present a novel method for learning within-view as well as between-view metrics in vector-valued kernel spaces, as a way to capture multi-modal structure of the data. We…
Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…
The effective receptive field (ERF) plays an important role in transform coding, which determines how much redundancy can be removed during transform and how many spatial priors can be utilized to synthesize textures during inverse…
Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…
Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…
In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…
Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…
Hyperspectral imagery is rich in spatial and spectral information. Using 3D-CNN can simultaneously acquire features of spatial and spectral dimensions to facilitate classification of features, but hyperspectral image information spectral…
Segmentation of certain hollow organs, such as the bladder, is especially hard to automate due to their complex geometry, vague intensity gradients in the soft tissues, and a tedious manual process of the data annotation routine. Yet,…
The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…
Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…
Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, especially specialized small models, exhibit poor…
While originally designed for natural language processing tasks, the self-attention mechanism has recently taken various computer vision areas by storm. However, the 2D nature of images brings three challenges for applying self-attention in…
We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…