相关论文: HVNet: Hybrid Voxel Network for LiDAR Based 3D Obj…

Automated 3D CT diagnosis empowers clinicians to make timely, evidence-based decisions by enhancing diagnostic accuracy and workflow efficiency. While multimodal large language models (MLLMs) exhibit promising performance in visual-language…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To…

3D object detection has become an emerging task in autonomous driving scenarios. Previous works process 3D point clouds using either projection-based or voxel-based models. However, both approaches contain some drawbacks. The voxel-based…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

Multi-exposure High Dynamic Range (HDR) imaging is a challenging task when facing truncated texture and complex motion. Existing deep learning-based methods have achieved great success by either following the alignment and fusion pipeline…

Multi-view detection incorporates multiple camera views to alleviate occlusion in crowded scenes, where the state-of-the-art approaches adopt homography transformations to project multi-view features to the ground plane. However, we find…

In this paper we show that High-Definition (HD) maps provide strong priors that can boost the performance and robustness of modern 3D object detectors. Towards this goal, we design a single stage detector that extracts geometric and…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

This paper presents HoughNet, a one-stage, anchor-free, voting-based, bottom-up object detection method. Inspired by the Generalized Hough Transform, HoughNet determines the presence of an object at a certain location by the sum of the…

Voxel is an important format to represent geometric data, which has been widely used for 3D deep learning in shape analysis due to its generalization ability and regular data format. However, fine-grained tasks like part segmentation…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Robust real-time detection and motion forecasting of traffic participants is necessary for autonomous vehicles to safely navigate urban environments. In this paper, we present RV-FuseNet, a novel end-to-end approach for joint detection and…

LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…

Recent advances in point cloud object detection have increasingly adopted Transformer-based and State Space Models (SSMs) to capture long-range dependencies. However, these serialized frameworks strictly maintain the consistency of input…

Road segmentation is a fundamental perception task for autonomous driving and intelligent robotic systems, requiring both high accuracy and real-time inference, especially for deployment on resource-constrained edge devices. Existing…

The existing 3D deep learning methods adopt either individual point-based features or local-neighboring voxel-based features, and demonstrate great potential for processing 3D data. However, the point based models are inefficient due to the…

High-Definition (HD) maps play a crucial role in autonomous vehicle navigation, complementing onboard perception sensors for improved accuracy and safety. Traditional HD map generation relies on dedicated mapping vehicles, which are costly…