相关论文: Optimisation of the PointPillars network for 3D ob…

Quantization for deep neural networks have afforded models for edge devices that use less on-board memory and enable efficient low-power inference. In this paper, we present a comparison of model-parameter driven quantization approaches…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Point clouds obtained from photogrammetry are noisy and incomplete models of reality. We propose an evolutionary optimization methodology that is able to approximate the underlying object geometry on such point clouds. This approach assumes…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

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…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

In this work, we shed light on different data augmentation techniques commonly used in Light Detection and Ranging (LiDAR) based 3D Object Detection. For the bulk of our experiments, we utilize the well known PointPillars pipeline and the…

The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…

Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…