Related papers: PDM-SSD: Single-Stage Three-Dimensional Object Det…

DETR-based methods, which use multi-layer transformer decoders to refine object queries iteratively, have shown promising performance in 3D indoor object detection. However, the scene point features in the transformer decoder remain fixed,…

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

This paper proposes a novel deep convolutional model, Tri-Points Based Line Segment Detector (TP-LSD), to detect line segments in an image at real-time speed. The previous related methods typically use the two-step strategy, relying on…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

With the prevalence of multimodal learning, camera-LiDAR fusion has gained popularity in 3D object detection. Although multiple fusion approaches have been proposed, they can be classified into either sparse-only or dense-only fashion based…

Smart monitoring using three-dimensional (3D) image sensors has been attracting attention in the context of smart cities. In smart monitoring, object detection from point cloud data acquired by 3D image sensors is implemented for detecting…

We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…

3D object detection has become an emerging task in autonomous driving scenarios. Previous works process 3D point clouds using either projection-based or voxel-based models. However, both approaches contain some drawbacks. The voxel-based…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

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…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…