相关论文: EPNet: Enhancing Point Features with Image Semanti…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

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…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

This study aims to address the problem of incomplete information in unimodal images for semantic segmentation and object detection tasks. Existing multimodal fusion methods suffer from limited capability in discriminative modeling of…

Powerful manipulation techniques have made digital image forgeries be easily created and widespread without leaving visual anomalies. The blind localization of tampered regions becomes quite significant for image forensics. In this paper,…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

We address a core problem of computer vision: Detection and description of 2D feature points for image matching. For a long time, hand-crafted designs, like the seminal SIFT algorithm, were unsurpassed in accuracy and efficiency. Recently,…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

3D Question Answering (3D QA) requires the model to comprehensively understand its situated 3D scene described by the text, then reason about its surrounding environment and answer a question under that situation. However, existing methods…

To achieve reliable and precise scene understanding, autonomous vehicles typically incorporate multiple sensing modalities to capitalize on their complementary attributes. However, existing cross-modal 3D detectors do not fully utilize 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…