相关论文: Any Motion Detector: Learning Class-agnostic Scene…

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…

LiDAR point cloud is essential for autonomous vehicles, but motion distortions from dynamic objects degrade the data quality. While previous work has considered distortions caused by ego motion, distortions caused by other moving objects…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

For safety-critical robotics applications such as autonomous driving, it is important to detect all required objects accurately in real-time. Motion segmentation offers a solution by identifying dynamic objects from the scene in a…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on…

3D moving object detection is one of the most critical tasks in dynamic scene analysis. In this paper, we propose a novel Drosophila-inspired 3D moving object detection method using Lidar sensors. According to the theory of elementary…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

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…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

Appearance-based detectors achieve remarkable performance on common scenes, but tend to fail for scenarios lack of training data. Geometric motion segmentation algorithms, however, generalize to novel scenes, but have yet to achieve…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

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…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…

Video captioning models have seen notable advancements in recent years, especially with regard to their ability to capture temporal information. While many research efforts have focused on architectural advancements, such as temporal…

Scene flow represents the motion information of each point in the 3D point clouds. It is a vital downstream method applied to many tasks, such as motion segmentation and object tracking. However, there are always occlusion points between…

The ability of predicting the future is important for intelligent systems, e.g. autonomous vehicles and robots to plan early and make decisions accordingly. Future scene parsing and optical flow estimation are two key tasks that help agents…