相关论文: MLCVNet: Multi-Level Context VoteNet for 3D Object…

We present PPFNet - Point Pair Feature NETwork for deeply learning a globally informed 3D local feature descriptor to find correspondences in unorganized point clouds. PPFNet learns local descriptors on pure geometry and is highly aware of…

Cascade is a widely used approach that rejects obvious negative samples at early stages for learning better classifier and faster inference. This paper presents chained cascade network (CC-Net). In this CC-Net, the cascaded classifier at a…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Object detection is a challenging task in visual understanding domain, and even more so if the supervision is to be weak. Recently, few efforts to handle the task without expensive human annotations is established by promising deep neural…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

Rapid advances in 2D perception have led to systems that accurately detect objects in real-world images. However, these systems make predictions in 2D, ignoring the 3D structure of the world. Concurrently, advances in 3D shape prediction…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

We present Hybrid Voxel Network (HVNet), a novel one-stage unified network for point cloud based 3D object detection for autonomous driving. Recent studies show that 2D voxelization with per voxel PointNet style feature extractor leads to…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Visual relationship detection can bridge the gap between computer vision and natural language for scene understanding of images. Different from pure object recognition tasks, the relation triplets of subject-predicate-object lie on an…

Point cloud representation has recently become a research hotspot in the field of computer vision and has been utilized for autonomous vehicles. However, adapting deep learning networks for point cloud data recognition is challenging due to…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Inferring 3D locations and shapes of multiple objects from a single 2D image is a long-standing objective of computer vision. Most of the existing works either predict one of these 3D properties or focus on solving both for a single object.…

3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…

Point clouds and RGB images are naturally complementary modalities for 3D visual understanding - the former provides sparse but accurate locations of points on objects, while the latter contains dense color and texture information. Despite…