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Training high-accuracy 3D detectors necessitates massive labeled 3D annotations with 7 degree-of-freedom, which is laborious and time-consuming. Therefore, the form of point annotations is proposed to offer significant prospects for…
Object detection has been extensively utilized in autonomous systems in recent years, encompassing both 2D and 3D object detection. Recent research in this field has primarily centered around multimodal approaches for addressing this…
A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…
NeRF-Det has achieved impressive performance in indoor multi-view 3D detection by innovatively utilizing NeRF to enhance representation learning. Despite its notable performance, we uncover three decisive shortcomings in its current design,…
The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driving and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant…
Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…
Denoising diffusion models show remarkable performances in generative tasks, and their potential applications in perception tasks are gaining interest. In this paper, we introduce a novel framework named DiffRef3D which adopts the diffusion…
3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In this…
3D Referring Expression Segmentation (3D-RES) aims to segment point cloud scenes based on a given expression. However, existing 3D-RES approaches face two major challenges: feature ambiguity and intent ambiguity. Feature ambiguity arises…
A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…
This study introduces PEFT-DML, a parameter-efficient deep metric learning framework for robust multi-modal 3D object detection in autonomous driving. Unlike conventional models that assume fixed sensor availability, PEFT-DML maps diverse…
Zero-shot learning on 3D point cloud data is a related underexplored problem compared to its 2D image counterpart. 3D data brings new challenges for ZSL due to the unavailability of robust pre-trained feature extraction models. To address…
Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…
Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…
Current video object detection (VOD) models often encounter issues with over-aggregation due to redundant aggregation strategies, which perform feature aggregation on every frame. This results in suboptimal performance and increased…
Object discovery, which refers to the task of localizing objects without human annotations, has gained significant attention in 2D image analysis. However, despite this growing interest, it remains under-explored in 3D data, where…
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…
Detecting 3D objects accurately from multi-view 2D images is a challenging yet essential task in the field of autonomous driving. Current methods resort to integrating depth prediction to recover the spatial information for object query…
Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…