Related papers: Multi-View Attentive Contextualization for Multi-V…
3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object…
Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…
Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…
The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…
3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…
The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…
Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…
Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…
3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…
Point clouds and RGB images are two general perceptional sources in autonomous driving. The former can provide accurate localization of objects, and the latter is denser and richer in semantic information. Recently, AutoAlign presents a…
Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…
Relation context has been proved to be useful for many challenging vision tasks. In the field of 3D object detection, previous methods have been taking the advantage of context encoding, graph embedding, or explicit relation reasoning to…
In this paper, we address the 3D object detection task by capturing multi-level contextual information with the self-attention mechanism and multi-scale feature fusion. Most existing 3D object detection methods recognize objects…
Multi-view detection incorporates multiple camera views to alleviate occlusion in crowded scenes, where the state-of-the-art approaches adopt homography transformations to project multi-view features to the ground plane. However, we find…
Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…
In this paper, we propose a new operator, called 3D DeFormable Attention (DFA3D), for 2D-to-3D feature lifting, which transforms multi-view 2D image features into a unified 3D space for 3D object detection. Existing feature lifting…
Annotating 3D data remains a costly bottleneck for 3D object detection, motivating the development of weakly supervised annotation methods that rely on more accessible 2D box annotations. However, relying solely on 2D boxes introduces…
Learning object-centric representations of multi-object scenes is a promising approach towards machine intelligence, facilitating high-level reasoning and control from visual sensory data. However, current approaches for unsupervised…
The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…
As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…