相关论文: 3D IoU-Net: IoU Guided 3D Object Detector for Poin…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

We present Self-Ensembling Single-Stage object Detector (SE-SSD) for accurate and efficient 3D object detection in outdoor point clouds. Our key focus is on exploiting both soft and hard targets with our formulated constraints to jointly…

Existing object detectors often struggle to generalize across domains while adapting to emerging novel categories. Adaptive open-set object detection (AOOD) addresses this challenge by training on base categories in the source domain and…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Autonomous vehicles generate massive volumes of point cloud data, yet only a subset is relevant for specific tasks such as collision detection, traffic analysis, or congestion monitoring. Effectively querying this data is essential to…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Bounding box regression plays a crucial role in the field of object detection, and the positioning accuracy of object detection largely depends on the loss function of bounding box regression. Existing researchs improve regression…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…