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Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Learning and selecting important points on a point cloud is crucial for point cloud understanding in various applications. Most of early methods selected the important points on 3D shapes by analyzing the intrinsic geometric properties of…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

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…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Image classifiers are information-discarding machines, by design. Yet, how these models discard information remains mysterious. We hypothesize that one way for image classifiers to reach high accuracy is to first zoom to the most…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

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.…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

The ability to cope with out-of-distribution (OOD) corruptions and adversarial attacks is crucial in real-world safety-demanding applications. In this study, we develop a general mechanism to increase neural network robustness based on…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

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…

This paper presents SO-Net, a permutation invariant architecture for deep learning with orderless point clouds. The SO-Net models the spatial distribution of point cloud by building a Self-Organizing Map (SOM). Based on the SOM, SO-Net…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…