Related papers: Spatial Self-Distillation for Object Detection wit…
Cross domain object detection is a realistic and challenging task in the wild. It suffers from performance degradation due to large shift of data distributions and lack of instance-level annotations in the target domain. Existing approaches…
For object detection, it is possible to view the prediction of bounding boxes as a reverse diffusion process. Using a diffusion model, the random bounding boxes are iteratively refined in a denoising step, conditioned on the image. We…
Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…
The availability of many real-world driving datasets is a key reason behind the recent progress of object detection algorithms in autonomous driving. However, there exist ambiguity or even failures in object labels due to error-prone…
Salient Object Detection (SOD) aims to identify and segment prominent regions within a scene. Traditional models rely on manually annotated pseudo labels with precise pixel-level accuracy, which is time-consuming. We developed a low-cost,…
Knowledge distillation (KD) is an effective method for compressing models in object detection tasks. Due to limited computational capability, UAV-based object detection (UAV-OD) widely adopt the KD technique to obtain lightweight detectors.…
We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…
Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inherent heterogeneity between these modalities, including…
Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…
Most existing salient object detection (SOD) models are difficult to apply due to the complex and huge model structures. Although some lightweight models are proposed, the accuracy is barely satisfactory. In this paper, we design a novel…
The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…
The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…
Training with sparse annotations is known to reduce the performance of object detectors. Previous methods have focused on proxies for missing ground truth annotations in the form of pseudo-labels for unlabeled boxes. We observe that…
We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…
Nowadays, Semi-Supervised Object Detection (SSOD) is a hot topic, since, while it is rather easy to collect images for creating a new dataset, labeling them is still an expensive and time-consuming task. One of the successful methods to…
To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…
In recent years, large-scale deep models have achieved great success, but the huge computational complexity and massive storage requirements make it a great challenge to deploy them in resource-limited devices. As a model compression and…
Accurate 3D object detection (3DOD) is crucial for safe navigation of complex environments by autonomous robots. Regressing accurate 3D bounding boxes in cluttered environments based on sparse LiDAR data is however a highly challenging…
Current state-of-the-art (SOTA) 3D object detection methods often require a large amount of 3D bounding box annotations for training. However, collecting such large-scale densely-supervised datasets is notoriously costly. To reduce the…
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…