相关论文: Finding Your (3D) Center: 3D Object Detection Usin…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

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…

Indoor 3D object detection is an essential task in single image scene understanding, impacting spatial cognition fundamentally in visual reasoning. Existing works on 3D object detection from a single image either pursue this goal through…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

3D object detection is still an open problem in autonomous driving scenes. When recognizing and localizing key objects from sparse 3D inputs, autonomous vehicles suffer from a larger continuous searching space and higher fore-background…

We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

We introduce a method to generate 3D scenes that are disentangled into their component objects. This disentanglement is unsupervised, relying only on the knowledge of a large pretrained text-to-image model. Our key insight is that objects…

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…

While multi-class 3D detectors are needed in many robotics applications, training them with fully labeled datasets can be expensive in labeling cost. An alternative approach is to have targeted single-class labels on disjoint data samples.…

Lesion detection from computed tomography (CT) scans is challenging compared to natural object detection because of two major reasons: small lesion size and small inter-class variation. Firstly, the lesions usually only occupy a small…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

Even though many existing 3D object detection algorithms rely mostly on camera and LiDAR, camera and LiDAR are prone to be affected by harsh weather and lighting conditions. On the other hand, radar is resistant to such conditions. However,…