Related papers: PillarNeSt: Embracing Backbone Scaling and Pretrai…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

We present a simple and flexible object detection framework optimized for autonomous driving. Building on the observation that point clouds in this application are extremely sparse, we propose a practical pillar-based approach to fix the…

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…

We provide a detailed analysis of convolutional neural networks which are pre-trained on the task of object detection. To this end, we train detectors on large datasets like OpenImagesV4, ImageNet Localization and COCO. We analyze how well…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Most 3D neural networks are trained from scratch owing to the lack of large-scale labeled 3D datasets. In this paper, we present a novel 3D pretraining method by leveraging 2D networks learned from rich 2D datasets. We propose the…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the…

To advance the state of the art in the creation of 3D foundation models, this paper introduces the ConDense framework for 3D pre-training utilizing existing pre-trained 2D networks and large-scale multi-view datasets. We propose a novel…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Identifying spatially complete planar primitives from visual data is a crucial task in computer vision. Prior methods are largely restricted to either 2D segment recovery or simplifying 3D structures, even with extensive plane annotations.…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving…

Efficient and accurate object detection in video and image analysis is one of the major beneficiaries of the advancement in computer vision systems with the help of deep learning. With the aid of deep learning, more powerful tools evolved,…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

The basic principles in designing convolutional neural network (CNN) structures for predicting objects on different levels, e.g., image-level, region-level, and pixel-level are diverging. Generally, network structures designed specifically…

There has been huge progress on video action recognition in recent years. However, many works focus on tweaking existing 2D backbones due to the reliance of ImageNet pretraining, which restrains the models from achieving higher efficiency…

Reconstructing 3D models from 2D images is one of the fundamental problems in computer vision. In this work, we propose a deep learning technique for 3D object reconstruction from a single image. Contrary to recent works that either use 3D…