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

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

3D detection technology is widely used in the field of autonomous driving, with its application scenarios gradually expanding from enclosed highways to open conventional roads. For rare anomaly categories that appear on the road, 3D…

Object detection often suffers from a plenty of bootless proposals, selecting high quality proposals remains a great challenge. In this paper, we propose a semantic, class-specific approach to re-rank object proposals, which can…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

In this paper, we present new feature encoding methods for Detection of 3D objects in point clouds. We used a graph neural network (GNN) for Detection of 3D objects namely cars, pedestrians, and cyclists. Feature encoding is one of the…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

Multi-camera multiple people tracking has become an increasingly important area of research due to the growing demand for accurate and efficient indoor people tracking systems, particularly in settings such as retail, healthcare centers,…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Due to the lack of depth information of images and poor detection accuracy in monocular 3D object detection, we proposed the instance depth for multi-scale monocular 3D object detection method. Firstly, to enhance the model's processing…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

While recent feed-forward 3D reconstruction models provide a strong geometric foundation for scene understanding, extending them to 3D instance segmentation typically relies on a disjointed "lift-and-cluster" paradigm. Grouping dense…