Related papers: DQ3D: Depth-guided Query for Transformer-Based 3D …
3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object…
Group regression is commonly used in 3D object detection to predict box parameters of similar classes in a joint head, aiming to benefit from similarities while separating highly dissimilar classes. For query-based perception methods, this…
3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…
Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…
Multi-camera-based 3D object detection has made notable progress in the past several years. However, we observe that there are cases (e.g. faraway regions) in which popular 2D object detectors are more reliable than state-of-the-art 3D…
Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…
We introduce a framework for multi-camera 3D object detection. In contrast to existing works, which estimate 3D bounding boxes directly from monocular images or use depth prediction networks to generate input for 3D object detection from 2D…
3D object detection models that exploit both LiDAR and camera sensor features are top performers in large-scale autonomous driving benchmarks. A transformer is a popular network architecture used for this task, in which so-called object…
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…
3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Due to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…
3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…
3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…
We investigate data augmentation for 3D object detection in autonomous driving. We utilize recent advancements in 3D reconstruction based on Gaussian Splatting for 3D object placement in driving scenes. Unlike existing diffusion-based…
3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…
Camouflaged object detection (COD) presents a persistent challenge in accurately identifying objects that seamlessly blend into their surroundings. However, most existing COD models overlook the fact that visual systems operate within a…
LiDAR sensors are widely used for 3D object detection in various mobile robotics applications. LiDAR sensors continuously generate point cloud data in real-time. Conventional 3D object detectors detect objects using a set of points acquired…
3D object detection is essential for understanding 3D scenes. Contemporary techniques often require extensive annotated training data, yet obtaining point-wise annotations for point clouds is time-consuming and laborious. Recent…
The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…
Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…
Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…