Related papers: GraphRelate3D: Context-Dependent 3D Object Detecti…
Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…
Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…
Region based object detectors achieve the state-of-the-art performance, but few consider to model the relation of proposals. In this paper, we explore the idea of modeling the relationships among the proposals for object detection from the…
A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…
In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of…
Object detection and data association are critical components in multi-object tracking (MOT) systems. Despite the fact that the two components are dependent on each other, prior works often design detection and data association modules…
In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…
3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work often uses a tracking-by-detection pipeline, where the feature of each object is extracted independently to compute an affinity matrix. Then, the affinity matrix…
LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…
We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…
3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard tracking-by-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix.…
The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…
3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…
Autonomous driving requires accurate local scene understanding information. To this end, autonomous agents deploy object detection and online BEV lane graph extraction methods as a part of their perception stack. In this work, we propose an…
Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…
3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…
In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…
In this paper, we present new feature encoding methods for Detection of 3D objects in point clouds. We used a graph neural network (GNN) for Detection of 3D objects namely cars, pedestrians, and cyclists. Feature encoding is one of the…
We present AVOD, an Aggregate View Object Detection network for autonomous driving scenarios. The proposed neural network architecture uses LIDAR point clouds and RGB images to generate features that are shared by two subnetworks: a region…
Visual relationship detection, as a challenging task used to find and distinguish the interactions between object pairs in one image, has received much attention recently. In this work, we propose a novel visual relationship detection…