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We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…
Point cloud classification is a popular task in 3D vision. However, previous works, usually assume that point clouds at test time are obtained with the same procedure or sensor as those at training time. Unsupervised Domain Adaptation (UDA)…
Data mixing augmentation has been widely applied to improve the generalization ability of deep neural networks. Recently, offline data mixing augmentation, e.g. handcrafted and saliency information-based mixup, has been gradually replaced…
In this paper, we introduce Context-Aware Priority Sampling (CAPS), a novel method designed to enhance data efficiency in learning-based autonomous driving systems. CAPS addresses the challenge of imbalanced datasets in imitation learning…
Clouds play a key role in regulating climate change but are difficult to simulate within Earth system models (ESMs). Improving the representation of clouds is one of the key tasks towards more robust climate change projections. This study…
Semi-supervised learning aims to leverage numerous unlabeled data to improve the model performance. Current semi-supervised 3D object detection methods typically use a teacher to generate pseudo labels for a student, and the quality of the…
This study explores the recently proposed and challenging multi-view Anomaly Detection (AD) task. Single-view tasks will encounter blind spots from other perspectives, resulting in inaccuracies in sample-level prediction. Therefore, we…
Upsampling LiDAR point clouds in autonomous driving scenarios remains a significant challenge due to the inherent sparsity and complex 3D structures of the data. Recent studies have attempted to address this problem by converting the…
Among all data augmentation techniques proposed so far, linear interpolation of training samples, also called Mixup, has found to be effective for a large panel of applications. Along with improved predictive performance, Mixup is also a…
Instance segmentation on 3D point clouds is one of the most extensively researched areas toward the realization of autonomous cars and robots. Certain existing studies have split input point clouds into small regions such as 1m x 1m; one…
Most masked point cloud modeling (MPM) methods follow a regression paradigm to reconstruct the coordinate or feature of masked regions. However, they tend to over-constrain the model to learn the details of the masked region, resulting in…
Data mixing augmentation has proved effective in training deep models. Recent methods mix labels mainly based on the mixture proportion of image pixels. As the main discriminative information of a fine-grained image usually resides in…
In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…
Mixup and its variants form a popular class of data augmentation techniques.Using a random sample pair, it generates a new sample by linear interpolation of the inputs and labels. However, generating only one single interpolation may limit…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Many recent semi-supervised learning (SSL) studies build teacher-student architecture and train the student network by the generated supervisory signal from the teacher. Data augmentation strategy plays a significant role in the SSL…
Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…
In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…
Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…
Automotive radar has shown promising developments in environment perception due to its cost-effectiveness and robustness in adverse weather conditions. However, the limited availability of annotated radar data poses a significant challenge…