相关论文: Improving 3D Object Detection for Pedestrians with…

Object detection is the key technique to a number of Computer Vision applications, but it often requires large amounts of annotated data to achieve decent results. Moreover, for pedestrian detection specifically, the collected data might…

Deep learning-based methods for video pedestrian detection and tracking require large volumes of training data to achieve good performance. However, data acquisition in crowded public environments raises data privacy concerns -- we are not…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…

3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…

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…

Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…

Estimating 3D orientation and translation of objects is essential for infrastructure-less autonomous navigation and driving. In case of monocular vision, successful methods have been mainly based on two ingredients: (i) a network generating…

Pedestrian detection in intelligent transportation systems has made significant progress but faces two critical challenges: (1) insufficient fusion of complementary information between visible and infrared spectra, particularly in complex…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

In the current worldwide situation, pedestrian detection has reemerged as a pivotal tool for intelligent video-based systems aiming to solve tasks such as pedestrian tracking, social distancing monitoring or pedestrian mass counting.…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Robots operating in human-centered environments, such as retail stores, restaurants, and households, are often required to distinguish between similar objects in different contexts with a high degree of accuracy. However, fine-grained…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

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…

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…