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This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Cloud segmentation amounts to separating cloud pixels from non-cloud pixels in an image. Current deep learning methods for cloud segmentation suffer from three issues. (a) Constrain on their receptive field due to the fixed size of the…

High-efficiency deep learning (DL) models are necessary not only to facilitate their use in devices with limited resources but also to improve resources required for training. Convolutional neural networks (ConvNets) typically exert severe…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Object detection in point clouds is an important aspect of many robotics applications such as autonomous driving. In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline.…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

Dense point cloud generation from a sparse or incomplete point cloud is a crucial and challenging problem in 3D computer vision and computer graphics. So far, the existing methods are either computationally too expensive, suffer from…

Crowdsourced 3D CAD models are becoming easily accessible online, and can potentially generate an infinite number of training images for almost any object category.We show that augmenting the training data of contemporary Deep Convolutional…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Recently, there have been a plethora of classification and detection systems from RGB as well as 3D images. In this work, we describe a new 3D object detection system from an RGB-D or depth-only point cloud. Our system first detects objects…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

LiDAR-based 3D object detection plays an essential role in autonomous driving. Existing high-performing 3D object detectors usually build dense feature maps in the backbone network and prediction head. However, the computational costs…

In this paper, we propose SparseDet for end-to-end 3D object detection from point cloud. Existing works on 3D object detection rely on dense object candidates over all locations in a 3D or 2D grid following the mainstream methods for object…

The use of pretrained backbones with fine-tuning has been successful for 2D vision and natural language processing tasks, showing advantages over task-specific networks. In this work, we introduce a pretrained 3D backbone, called {\SST},…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

LiDAR-based 3D single object tracking (3D SOT) is a critical issue in robotics and autonomous driving. Existing 3D SOT methods typically adhere to a point-based processing pipeline, wherein the re-sampling operation invariably leads to…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

This work considers a new task in geometric deep learning: generating a triangulation among a set of points in 3D space. We present PointTriNet, a differentiable and scalable approach enabling point set triangulation as a layer in 3D…