相关论文: P2B: Point-to-Box Network for 3D Object Tracking i…

Object recognition using single-point supervision has attracted increasing attention recently. However, the performance gap compared with fully-supervised algorithms remains large. Previous works generated class-agnostic…

3D single object tracking (SOT) methods based on appearance matching has long suffered from insufficient appearance information incurred by incomplete, textureless and semantically deficient LiDAR point clouds. While motion paradigm…

Object detection using single point supervision has received increasing attention over the years. However, the performance gap between point supervised object detection (PSOD) and bounding box supervised detection remains large. In this…

Two-stage point-to-box network acts as a critical role in the recent popular 3D Siamese tracking paradigm, which first generates proposals and then predicts corresponding proposal-wise scores. However, such a network suffers from tedious…

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

Following considerable development in 3D scanning technologies, many studies have recently been proposed with various approaches for 3D vision tasks, including some methods that utilize 2D convolutional neural networks (CNNs). However, even…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…

3D single object tracking is a key issue for autonomous following robot, where the robot should robustly track and accurately localize the target for efficient following. In this paper, we propose a 3D tracking method called 3D-SiamRPN…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Current 3D object detection methods are heavily influenced by 2D detectors. In order to leverage architectures in 2D detectors, they often convert 3D point clouds to regular grids (i.e., to voxel grids or to bird's eye view images), or rely…

We introduce a method for instance proposal generation for 3D point clouds. Existing techniques typically directly regress proposals in a single feed-forward step, leading to inaccurate estimation. We show that this serves as a critical…

3D single object tracking with point clouds is a critical task in 3D computer vision. Previous methods usually input the last two frames and use the predicted box to get the template point cloud in previous frame and the search area point…

We introduce P2P-NET, a general-purpose deep neural network which learns geometric transformations between point-based shape representations from two domains, e.g., meso-skeletons and surfaces, partial and complete scans, etc. The…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

In this paper, we propose a novel real-time 6D object pose estimation framework, named G2L-Net. Our network operates on point clouds from RGB-D detection in a divide-and-conquer fashion. Specifically, our network consists of three steps.…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…