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

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…

Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

As the perception range of LiDAR increases, LiDAR-based 3D object detection becomes a dominant task in the long-range perception task of autonomous driving. The mainstream 3D object detectors usually build dense feature maps in the network…

Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…

Human visual recognition is a sparse process, where only a few salient visual cues are attended to rather than traversing every detail uniformly. However, most current vision networks follow a dense paradigm, processing every single visual…

In this paper, we propose an efficient multi-level convolution architecture for 3D visual grounding. Conventional methods are difficult to meet the requirements of real-time inference due to the two-stage or point-based architecture.…

Humans can easily imagine the complete 3D geometry of occluded objects and scenes. This appealing ability is vital for recognition and understanding. To enable such capability in AI systems, we propose VoxFormer, a Transformer-based…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

We identify and overcome two key obstacles in extending the success of BERT-style pre-training, or the masked image modeling, to convolutional networks (convnets): (i) convolution operation cannot handle irregular, random-masked input…

Uncertainty estimation is an important task for critical problems, such as robotics and autonomous driving, because it allows creating statistically better perception models and signaling the model's certainty in its predictions to the…

Recent Transformer-based 3D object detectors learn point cloud features either from point- or voxel-based representations. However, the former requires time-consuming sampling while the latter introduces quantization errors. In this paper,…

Evaluating text-to-image generation models requires alignment with human perception, yet existing human-centric metrics are constrained by limited data coverage, suboptimal feature extraction, and inefficient loss functions. To address…

A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…

Although Faster R-CNN and its variants have shown promising performance in object detection, they only exploit simple first-order representation of object proposals for final classification and regression. Recent classification methods…

In multi-view 3D human pose estimation, models typically rely on images captured simultaneously from different camera views to predict a pose at a specific moment. While providing accurate spatial information, this traditional approach…

Recent developments in neural networks have improved deformable image registration (DIR) by amortizing iterative optimization, enabling fast and accurate DIR results. However, learning-based methods often face challenges with limited…

Recent advances in bioimaging have provided scientists a superior high spatial-temporal resolution to observe dynamics of living cells as 3D volumetric videos. Unfortunately, the 3D biomedical video analysis is lagging, impeded by resource…