相关论文: Class-specific Anchoring Proposal for 3D Object Re…

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…

Object detection has been one of the most active topics in computer vision for the past years. Recent works have mainly focused on pushing the state-of-the-art in the general-purpose COCO benchmark. However, the use of such detection…

Region anchors are the cornerstone of modern object detection techniques. State-of-the-art detectors mostly rely on a dense anchoring scheme, where anchors are sampled uniformly over the spatial domain with a predefined set of scales and…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

Localizing objects in 3D space and understanding their associated 3D properties is challenging given only monocular RGB images. The situation is compounded by the loss of depth information during perspective projection. We present Center3D,…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

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…

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…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

State-of-the-art object detection systems rely on an accurate set of region proposals. Several recent methods use a neural network architecture to hypothesize promising object locations. While these approaches are computationally efficient,…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

Usually, it is difficult to determine the scale and aspect ratio of anchors for anchor-based object detection methods. Current state-of-the-art object detectors either determine anchor parameters according to objects' shape and scale in a…

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…