Related papers: MaskBEV: Joint Object Detection and Footprint Comp…

Recent object detectors use four-coordinate bounding box (bbox) regression to predict object locations. Providing additional information indicating the object positions and coordinates will improve detection performance. Thus, we propose…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Camera-based Bird's-Eye-View (BEV) perception often struggles between adopting 3D-to-2D or 2D-to-3D view transformation (VT). The 3D-to-2D VT typically employs resource-intensive Transformer to establish robust correspondences between 3D…

Masked autoencoding has achieved great success for self-supervised learning in the image and language domains. However, mask based pretraining has yet to show benefits for point cloud understanding, likely due to standard backbones like…

Depth estimation is a cornerstone of perception in autonomous driving and robotic systems. The considerable cost and relatively sparse data acquisition of LiDAR systems have led to the exploration of cost-effective alternatives, notably,…

3D Single Object Tracking (SOT) is a fundamental task in computer vision and plays a critical role in applications like autonomous driving. However, existing algorithms often involve complex designs and multiple loss functions, making model…

Currently, existing state-of-the-art 3D object detectors are in two-stage paradigm. These methods typically comprise two steps: 1) Utilize a region proposal network to propose a handful of high-quality proposals in a bottom-up fashion. 2)…

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…

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…

Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Vision transformers (ViTs) have recently been widely applied to 3D point cloud understanding, with masked autoencoding as the predominant pre-training paradigm. However, the challenge of learning dense and informative semantic features from…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Bird's-eye view (BEV) perception has garnered significant attention in autonomous driving in recent years, in part because BEV representation facilitates multi-modal sensor fusion. BEV representation enables a variety of perception tasks…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Roadside monocular 3D detection requires detecting objects of predefined classes in an RGB frame and predicting their 3D attributes, such as bird's-eye-view (BEV) locations. It has broad applications in traffic control, vehicle-vehicle…

Vision-based Bird's Eye View (BEV) representation is an emerging perception formulation for autonomous driving. The core challenge is to construct BEV space with multi-camera features, which is a one-to-many ill-posed problem. Diving into…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding. Recent advances on monocular 3D object…