Related papers: 3D Small Object Detection with Dynamic Spatial Pru…
Denoising Diffusion Probabilistic Models (DDPMs) have shown success in robust 3D object detection tasks. Existing methods often rely on the score matching from 3D boxes or pre-trained diffusion priors. However, they typically require…
Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…
Enlarging input images is a straightforward and effective approach to promote small object detection. However, simple image enlargement is significantly expensive on both computations and GPU memory. In fact, small objects are usually…
The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…
Autonomous systems need to process large-scale, sparse, and irregular point clouds with limited compute resources. Consequently, it is essential to develop LiDAR perception methods that are both efficient and effective. Although naively…
Small object detection for 3D point cloud is a challenging problem because of two limitations: (1) Perceiving small objects is much more diffcult than normal objects due to the lack of valid points. (2) Small objects are easily blocked…
In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…
We propose an efficient Stereographic Projection Neural Network (SPNet) for learning representations of 3D objects. We first transform a 3D input volume into a 2D planar image using stereographic projection. We then present a shallow 2D…
Vision Transformers (ViTs) have shown impressive performance in computer vision, but their high computational cost, quadratic in the number of tokens, limits their adoption in computation-constrained applications. However, this large number…
3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…
Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…
This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…
3D neural networks have become prevalent for many 3D vision tasks including object detection, segmentation, registration, and various perception tasks for 3D inputs. However, due to the sparsity and irregularity of 3D data, custom 3D…
SSD (Single Shot Multibox Detector) is one of the most successful object detectors for its high accuracy and fast speed. However, the features from shallow layer (mainly Conv4_3) of SSD lack semantic information, resulting in poor…
Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…
3D object detection in point clouds is important for autonomous driving systems. A primary challenge in 3D object detection stems from the sparse distribution of points within the 3D scene. Existing high-performance methods typically employ…
Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…
Efficient generation of high-quality object proposals is an essential step in state-of-the-art object detection systems based on deep convolutional neural networks (DCNN) features. Current object proposal algorithms are computationally…
Deep learning approaches have achieved unprecedented performance in visual recognition tasks such as object detection and pose estimation. However, state-of-the-art models have millions of parameters represented as floats which make them…
In LiDAR-based 3D object detection for autonomous driving, the ratio of the object size to input scene size is significantly smaller compared to 2D detection cases. Overlooking this difference, many 3D detectors directly follow the common…