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We introduce DEIM, an innovative and efficient training framework designed to accelerate convergence in real-time object detection with Transformer-based architectures (DETR). To mitigate the sparse supervision inherent in one-to-one (O2O)…

Motivated by the remarkable achievements of DETR-based approaches on COCO object detection and segmentation benchmarks, recent endeavors have been directed towards elevating their performance through self-supervised pre-training of…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Query-based models are extensively used in 3D object detection tasks, with a wide range of pre-trained checkpoints readily available online. However, despite their popularity, these models often require an excessive number of object…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

The DEtection TRansformer (DETR) algorithm has received considerable attention in the research community and is gradually emerging as a mainstream approach for object detection and other perception tasks. However, the current field lacks a…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Precisely localizing 3D objects from a single image constitutes a central challenge in monocular 3D detection. While DETR-like architectures offer a powerful paradigm, their direct application in this domain encounters inherent limitations,…

Object detection with Transformers (DETR) has achieved a competitive performance over traditional detectors, such as Faster R-CNN. However, the potential of DETR remains largely unexplored for the more challenging task of arbitrary-oriented…

We present a new deep learning architecture (called Kd-network) that is designed for 3D model recognition tasks and works with unstructured point clouds. The new architecture performs multiplicative transformations and share parameters of…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Effectively preserving and encoding structure features from objects in irregular and sparse LiDAR points is a key challenge to 3D object detection on point cloud. Recently, Transformer has demonstrated promising performance on many 2D and…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

Popular transformer detectors have achieved promising performance through query-based learning using attention mechanisms. However, the roles of existing decoder query types (e.g., content query and positional query) are still…

Detection Transformer (DETR) has redefined object detection by casting it as a set prediction task within an end-to-end framework. Despite its elegance, DETR and its variants still rely on fixed learnable queries and suffer from severe…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

This paper introduces a novel method for end-to-end crowd detection that leverages object density information to enhance existing transformer-based detectors. We present CrowdQuery (CQ), whose core component is our CQ module that predicts…