Related papers: VoxelKP: A Voxel-based Network Architecture for Hu…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain…

This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature that enables the probabilistic representation of the…

The creation of high-fidelity 3D assets is often hindered by a 'pixel-level pain point': the loss of high-frequency details. Existing methods often trade off one aspect for another: either sacrificing cross-view consistency, resulting in…

Event cameras produce asynchronous, high-dynamic-range streams well suited for detecting small, fast-moving drones, yet most event-based detectors convert the sparse event stream into dense tensors, discarding the representational…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

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…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Extending the success of 2D Large Kernel to 3D perception is challenging due to: 1. the cubically-increasing overhead in processing 3D data; 2. the optimization difficulties from data scarcity and sparsity. Previous work has taken the first…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

State-of-the-art 3D-aware generative models rely on coordinate-based MLPs to parameterize 3D radiance fields. While demonstrating impressive results, querying an MLP for every sample along each ray leads to slow rendering. Therefore,…

Image-based volumetric humans using pixel-aligned features promise generalization to unseen poses and identities. Prior work leverages global spatial encodings and multi-view geometric consistency to reduce spatial ambiguity. However,…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

In this paper, we proposed large selective kernel and sparse attention network (LSKSANet) for remote sensing image semantic segmentation. The LSKSANet is a lightweight network that effectively combines convolution with sparse attention…

Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…

LiDAR-based sparse 3D object detection plays a crucial role in autonomous driving applications due to its computational efficiency advantages. Existing methods either use the features of a single central voxel as an object proxy, or treat…

Event cameras attract researchers' attention due to their low power consumption, high dynamic range, and extremely high temporal resolution. Learning models on event-based object classification have recently achieved massive success by…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Accurate 3D object detection in large-scale outdoor scenes, characterized by considerable variations in object scales, necessitates features rich in both long-range and fine-grained information. While recent detectors have utilized…