Related papers: Spatio-Temporal Bi-directional Cross-frame Memory …

LiDAR-based 3D object detection is a fundamental task in the field of autonomous driving. This paper explores the unique advantage of Frequency Modulated Continuous Wave (FMCW) LiDAR in autonomous perception. Given a single frame FMCW point…

3D object detection using LiDAR data remains a key task for applications like autonomous driving and robotics. Unlike in the case of 2D images, LiDAR data is almost always collected over a period of time. However, most work in this area has…

Traffic forecasting has emerged as a crucial research area in the development of smart cities. Although various neural networks with intricate architectures have been developed to address this problem, they still face two key challenges: i)…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

In this paper, a self-supervised model that simultaneously predicts a sequence of future frames from video-input with a novel spatial-temporal attention (ST) network is proposed. The ST transformer network allows constraining both temporal…

Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…

Direct methods have shown excellent performance in the applications of visual odometry and SLAM. In this work we propose to leverage their effectiveness for the task of 3D multi-object tracking. To this end, we propose DirectTracker, a…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

This paper presents F-Siamese Tracker, a novel approach for single object tracking prominently characterized by more robustly integrating 2D and 3D information to reduce redundant search space. A main challenge in 3D single object tracking…

Following the tracking-by-attention paradigm, this paper introduces an object-centric, transformer-based framework for tracking in 3D. Traditional model-based tracking approaches incorporate the geometric effect of object- and ego motion…

Existing tracking algorithms typically rely on low-frame-rate RGB cameras coupled with computationally intensive deep neural network architectures to achieve effective tracking. However, such frame-based methods inherently face challenges…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

In this technical report, we introduce our solution to human-centric spatio-temporal video grounding task. We propose a concise and effective framework named STVGFormer, which models spatiotemporal visual-linguistic dependencies with a…

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…

3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…

Mainstream visual object tracking frameworks predominantly rely on template matching paradigms. Their performance heavily depends on the quality of template features, which becomes increasingly challenging to maintain in complex scenarios…

Point cloud-based 3D object tracking is an important task in autonomous driving. Though great advances regarding Siamese-based 3D tracking have been made recently, it remains challenging to learn the correlation between the template and…

Object tracking becomes critical especially when similar objects are present in the same area. Recent state-of-the-art (SOTA) approaches are proposed based on taking a matching network with a heavy structure to distinguish the target from…

Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…