相关论文: 3D Fully Convolutional Network for Vehicle Detecti…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

To address the issues of the existing frustum-based methods' underutilization of image information in road three-dimensional object detection as well as the lack of research on agricultural scenes, we constructed an object detection dataset…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…

To achieve reliable and precise scene understanding, autonomous vehicles typically incorporate multiple sensing modalities to capitalize on their complementary attributes. However, existing cross-modal 3D detectors do not fully utilize the…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Object detection is a significant field in autonomous driving. Popular sensors for this task include cameras and LiDAR sensors. LiDAR sensors offer several advantages, such as insensitivity to light changes, like in a dark setting and the…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

The goal of this paper is to perform 3D object detection in the context of autonomous driving. Our method first aims at generating a set of high-quality 3D object proposals by exploiting stereo imagery. We formulate the problem as…

Cloud detection in satellite images is an important first-step in many remote sensing applications. This problem is more challenging when only a limited number of spectral bands are available. To address this problem, a deep learning-based…

Object detection in point clouds is an important aspect of many robotics applications such as autonomous driving. In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline.…

For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to…

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…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…