Related papers: SEED: A Simple and Effective 3D DETR in Point Clou…

Transformer has demonstrated promising performance in many 2D vision tasks. However, it is cumbersome to compute the self-attention on large-scale point cloud data because point cloud is a long sequence and unevenly distributed in 3D space.…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

Detection Transformers (DETR) are renowned object detection pipelines, however computationally efficient multiscale detection using DETR is still challenging. In this paper, we propose a Cross-Resolution Encoding-Decoding (CRED) mechanism…

The human brain can effortlessly recognize and localize objects, whereas current 3D object detection methods based on LiDAR point clouds still report inferior performance for detecting occluded and distant objects: the point cloud…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

We present a new table structure recognition (TSR) approach, called TSRFormer, to robustly recognizing the structures of complex tables with geometrical distortions from various table images. Unlike previous methods, we formulate table…

Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

In this paper, we propose SparseDet for end-to-end 3D object detection from point cloud. Existing works on 3D object detection rely on dense object candidates over all locations in a 3D or 2D grid following the mainstream methods for object…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Recently, the advancement of 3D point clouds in deep learning has attracted intensive research in different application domains such as computer vision and robotic tasks. However, creating feature representation of robust, discriminative…

Dense prediction infers per-pixel values from a single image and is fundamental to 3D perception and robotics. Although real-world scenes exhibit strong structure, existing methods treat it as an independent pixel-wise prediction, often…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

Transformer-based object detectors (DETR) have shown significant performance across machine vision tasks, ultimately in object detection. This detector is based on a self-attention mechanism along with the transformer encoder-decoder…

In current research, Bird's-Eye-View (BEV)-based transformers are increasingly utilized for multi-camera 3D object detection. Traditional models often employ random queries as anchors, optimizing them successively. Recent advancements…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

This paper presents a DETR-based method for cross-domain weakly supervised object detection (CDWSOD), aiming at adapting the detector from source to target domain through weak supervision. We think DETR has strong potential for CDWSOD due…