相关论文: Autolabeling 3D Objects with Differentiable Render…

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects.…

Deep learning based object detectors struggle generalizing to a new target domain bearing significant variations in object and background. Most current methods align domains by using image or instance-level adversarial feature alignment.…

Recent years have produced a variety of learning based methods in the context of computer vision and robotics. Most of the recently proposed methods are based on deep learning, which require very large amounts of data compared to…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

We present a simple algorithm for differentiable rendering of surfaces represented by Signed Distance Fields (SDF), which makes it easy to integrate rendering into gradient-based optimization pipelines. To tackle visibility-related…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…

Existing 3D object detection suffers from expensive annotation costs and poor transferability to unknown data due to the domain gap, Unsupervised Domain Adaptation (UDA) aims to generalize detection models trained in labeled source domains…

Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

We introduce AutoRF - a new approach for learning neural 3D object representations where each object in the training set is observed by only a single view. This setting is in stark contrast to the majority of existing works that leverage…

The reconstruction of high-quality shape geometry is crucial for developing freehand 3D ultrasound imaging. However, the shape reconstruction of multi-view ultrasound data remains challenging due to the elevation distortion caused by thick…

LiDAR-based outdoor 3D object detection has received widespread attention. However, training 3D detectors from the LiDAR point cloud typically relies on expensive bounding box annotations. This paper presents SC3D, an innovative…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

The inverse scattering problem is of critical importance in a number of fields, including medical imaging, sonar, sensing, non-destructive evaluation, and several others. The problem of interest can vary from detecting the shape to the…

Most existing distance metric learning approaches use fully labeled data to learn the sample similarities in an embedding space. We present a self-training framework, SLADE, to improve retrieval performance by leveraging additional…

Advancements in deep learning-based 3D object detection necessitate the availability of large-scale datasets. However, this requirement introduces the challenge of manual annotation, which is often both burdensome and time-consuming. To…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…