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We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods…

Data augmentation techniques, such as simple image transformations and combinations, are highly effective at improving the generalization of computer vision models, especially when training data is limited. However, such techniques are…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical…

Data augmentation is an effective regularization strategy to alleviate the overfitting, which is an inherent drawback of the deep neural networks. However, data augmentation is rarely considered for point cloud processing despite many…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Point cloud classification plays a crucial role in the processing and analysis of data from 3D sensors such as LiDAR, which are commonly used in applications like autonomous vehicles, robotics, and environmental monitoring. However,…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Domain adaptation methods for object detection (OD) strive to mitigate the impact of distribution shifts by promoting feature alignment across source and target domains. Multi-source domain adaptation (MSDA) allows leveraging multiple…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Data augmentation improves the generalization power of deep learning models by synthesizing more training samples. Sample-mixing is a popular data augmentation approach that creates additional data by combining existing samples. Recent…

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…

Open set recognition (OSR) is devised to address the problem of detecting novel classes during model inference. Even in recent vision models, this remains an open issue which is receiving increasing attention. Thereby, a crucial challenge…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…