Related papers: LinK: Linear Kernel for LiDAR-based 3D Perception

In contrast to current state-of-the-art methods, such as NSFP [25], which employ deep implicit neural functions for modeling scene flow, we present a novel approach that utilizes classical kernel representations. This representation enables…

With the rise of robotics, LiDAR-based 3D object detection has garnered significant attention in both academia and industry. However, existing datasets and methods predominantly focus on vehicle-mounted platforms, leaving other autonomous…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

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,…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

The enhancement of 3D object detection is pivotal for precise environmental perception and improved task execution capabilities in autonomous driving. LiDAR point clouds, offering accurate depth information, serve as a crucial information…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Imposing an effective structural assumption on neural network weight matrices has been the major paradigm for designing Parameter-Efficient Fine-Tuning (PEFT) systems for adapting modern large pre-trained models to various downstream tasks.…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

Kernels are often developed and used as implicit mapping functions that show impressive predictive power due to their high-dimensional feature space representations. In this study, we gradually construct a series of simple feature maps that…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

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…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Video action recognition has been partially addressed by the CNNs stacking of fixed-size 3D kernels. However, these methods may under-perform for only capturing rigid spatial-temporal patterns in single-scale spaces, while neglecting the…

Empirical observation of high dimensional phenomena, such as the double descent behaviour, has attracted a lot of interest in understanding classical techniques such as kernel methods, and their implications to explain generalization…

Neural networks based on convolutional operations have achieved remarkable results in the field of deep learning, but there are two inherent flaws in standard convolutional operations. On the one hand, the convolution operation is confined…

Inspired by the success of recent vision transformers and large kernel design in convolutional neural networks (CNNs), in this paper, we analyze and explore essential reasons for their success. We claim two factors that are critical for 3D…

The application of 3D ViTs to medical image segmentation has seen remarkable strides, somewhat overshadowing the budding advancements in Convolutional Neural Network (CNN)-based models. Large kernel depthwise convolution has emerged as a…

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…