Related papers: VoxelKP: A Voxel-based Network Architecture for Hu…
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localization accuracy of online LiDAR odometry. VoxelMap and its…
Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…
LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…
3D neural networks have become prevalent for many 3D vision tasks including object detection, segmentation, registration, and various perception tasks for 3D inputs. However, due to the sparsity and irregularity of 3D data, custom 3D…
We consider a distributed learning setup where a sparse signal is estimated over a network. Our main interest is to save communication resource for information exchange over the network and reduce processing time. Each node of the network…
Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…
This work presents SGCDet, a novel multi-view indoor 3D object detection framework based on adaptive 3D volume construction. Unlike previous approaches that restrict the receptive field of voxels to fixed locations on images, we introduce a…
The generation of high-fidelity view synthesis is essential for robotic navigation and interaction but remains challenging, particularly in indoor environments and real-time scenarios. Existing techniques often require significant…
We present a novel 3D shape completion method that operates directly on unstructured point clouds, thus avoiding resource-intensive data structures like voxel grids. To this end, we introduce KAPLAN, a 3D point descriptor that aggregates…
Reproducing kernel Hilbert spaces (RKHSs) are key elements of many non-parametric tools successfully used in signal processing, statistics, and machine learning. In this work, we aim to address three issues of the classical RKHS based…
Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…
We present a box-free bottom-up approach for the tasks of pose estimation and instance segmentation of people in multi-person images using an efficient single-shot model. The proposed PersonLab model tackles both semantic-level reasoning…
3D pre-training is crucial to 3D perception tasks. Nevertheless, limited by the difficulties in collecting clean and complete 3D data, 3D pre-training has persistently faced data scaling challenges. In this work, we introduce a novel…
We present VoxelTrack for multi-person 3D pose estimation and tracking from a few cameras which are separated by wide baselines. It employs a multi-branch network to jointly estimate 3D poses and re-identification (Re-ID) features for all…
$ \newcommand{\kalg}{{k_{\mathrm{alg}}}} \newcommand{\kopt}{{k_{\mathrm{opt}}}} \newcommand{\algset}{{T}} \renewcommand{\Re}{\mathbb{R}} \newcommand{\eps}{\varepsilon} \newcommand{\pth}[2][\!]{#1\left({#2}\right)} \newcommand{\npoints}{n}…
The quadratic compute and memory costs of global self-attention severely limit its use in high-resolution images. Local attention reduces complexity by restricting attention to neighborhoods. Block-sparse kernels can further improve the…
The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…
Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…
This paper addresses the critical challenges of sparsity and occlusion in LiDAR-based 3D object detection. Current methods often rely on supplementary modules or specific architectural designs, potentially limiting their applicability to…
This work leverages the continuous sweeping motion of LiDAR scanning to concentrate object detection efforts on specific regions that receive a change in point data from one frame to another. We achieve this by using a sliding time window…