Related papers: V-DETR: DETR with Vertex Relative Position Encodin…

We present a strong object detector with encoder-decoder pretraining and finetuning. Our method, called Group DETR v2, is built upon a vision transformer encoder ViT-Huge~\cite{dosovitskiy2020image}, a DETR variant…

3D detection based on surround-view camera system is a critical technique in autopilot. In this work, we present Polar Parametrization for 3D detection, which reformulates position parametrization, velocity decomposition, perception range,…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Object localization in 3D space is a challenging aspect in monocular 3D object detection. Recent advances in 6DoF pose estimation have shown that predicting dense 2D-3D correspondence maps between image and object 3D model and then…

Objects in aerial images usually have arbitrary orientations and are densely located over the ground, making them extremely challenge to be detected. Many recently developed methods attempt to solve these issues by estimating an extra…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Vision transformers (ViTs) are changing the landscape of object detection approaches. A natural usage of ViTs in detection is to replace the CNN-based backbone with a transformer-based backbone, which is straightforward and effective, with…

Real-time object detection is crucial for real-world applications as it requires high accuracy with low latency. While Detection Transformers (DETR) have demonstrated significant performance improvements, current real-time DETR models are…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

Real-world object detection must operate in evolving environments where new classes emerge, domains shift, and unseen objects must be identified as "unknown": all without accessing prior data. We introduce Evolving World Object Detection…

We introduce a multi-modal WAVE-DETR drone detector combining visible RGB and acoustic signals for robust real-life UAV object detection. Our approach fuses visual and acoustic features in a unified object detector model relying on the…

DETR has set up a simple end-to-end pipeline for object detection by formulating this task as a set prediction problem, showing promising potential. Despite its notable advancements, this paper identifies two key forms of misalignment…

We introduce Patch Refinement a two-stage model for accurate 3D object detection and localization from point cloud data. Patch Refinement is composed of two independently trained Voxelnet-based networks, a Region Proposal Network (RPN) and…

Numerous prior studies predominantly emphasize constructing relation vectors for individual neighborhood points and generating dynamic kernels for each vector and embedding these into high-dimensional spaces to capture implicit local…

Dense pose estimation is a dense 3D prediction task for instance-level human analysis, aiming to map human pixels from an RGB image to a 3D surface of the human body. Due to a large amount of surface point regression, the training process…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Radar-based indoor 3D human pose estimation typically relied on fine-grained 3D keypoint labels, which are costly to obtain especially in complex indoor settings involving clutter, occlusions, or multiple people. In this paper, we propose…