相关论文: SS3D: Single Shot 3D Object Detector

Monocular 3D object detection is a fundamental but very important task to many applications including autonomous driving, robotic grasping and augmented reality. Existing leading methods tend to estimate the depth of the input image first,…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited…

Monocular 3D object detection is a fundamental yet challenging task in 3D scene understanding. Existing approaches heavily depend on supervised learning with extensive 3D annotations, which are often acquired from LiDAR point clouds through…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

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…

We study the 3D object understanding task for manipulating everyday objects with different material properties (diffuse, specular, transparent and mixed). Existing monocular and RGB-D methods suffer from scale ambiguity due to missing or…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Accurately annotating multiple 3D objects in LiDAR scenes is laborious and challenging. While a few previous studies have attempted to leverage semi-automatic methods for cost-effective bounding box annotation, such methods have limitations…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

Single shot detectors that are potentially faster and simpler than two-stage detectors tend to be more applicable to object detection in videos. Nevertheless, the extension of such object detectors from image to video is not trivial…

3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view…

Recently, sparsely-supervised 3D object detection has gained great attention, achieving performance close to fully-supervised 3D objectors while requiring only a few annotated instances. Nevertheless, these methods suffer challenges when…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…