相关论文: 3D Object Class Detection in the Wild

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Monocular multi-object detection and localization in 3D space has been proven to be a challenging task. The MoNet3D algorithm is a novel and effective framework that can predict the 3D position of each object in a monocular image and draw a…

Object Detection is the task of classification and localization of objects in an image or video. It has gained prominence in recent years due to its widespread applications. This article surveys recent developments in deep learning based…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

We investigate the direction of training a 3D object detector for new object classes from only 2D bounding box labels of these new classes, while simultaneously transferring information from 3D bounding box labels of the existing classes.…

We present a reinforcement learning approach for detecting objects within an image. Our approach performs a step-wise deformation of a bounding box with the goal of tightly framing the object. It uses a hierarchical tree-like representation…

It is widely accepted that reasoning about object shape is important for object recognition. However, the most powerful object recognition methods today do not explicitly make use of object shape during learning. In this work, motivated by…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

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…

Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…

The great progress of 3D object detectors relies on large-scale data and 3D annotations. The annotation cost for 3D bounding boxes is extremely expensive while the 2D ones are easier and cheaper to collect. In this paper, we introduce a…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

The thesis contributes in several important ways to the research area of 3D object category learning and recognition. To cope with the mentioned limitations, we look at human cognition, in particular at the fact that human beings learn to…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…

Object detection is a pivotal task in computer vision that has received significant attention in previous years. Nonetheless, the capability of a detector to localise objects out of the training distribution remains unexplored. Whilst…

3D objectness estimation, namely discovering semantic objects from 3D scene, is a challenging and significant task in 3D understanding. In this paper, we propose a 3D objectness method working in a bottom-up manner. Beginning with…

The implementation of Autonomous Driving (AD) technologies within urban environments presents significant challenges. These challenges necessitate the development of advanced perception systems and motion planning algorithms capable of…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…