相关论文: Uncertainty-aware Self-supervised 3D Data Associat…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

In this paper, we propose a novel concept of path consistency to learn robust object matching without using manual object identity supervision. Our key idea is that, to track a object through frames, we can obtain multiple different…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

We present a novel self-taught framework for unsupervised metric learning, which alternates between predicting class-equivalence relations between data through a moving average of an embedding model and learning the model with the predicted…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Learning an object detector or retrieval requires a large data set with manual annotations. Such data sets are expensive and time consuming to create and therefore difficult to obtain on a large scale. In this work, we propose to exploit…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…

This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level…

In this paper, we explore a self-supervised model that learns to detect the symmetry of a single object without requiring a dataset-relying solely on the input object itself. We hypothesize that the symmetry of an object can be determined…

The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

Semi-supervised object detection (SSOD), leveraging unlabeled data to boost object detectors, has become a hot topic recently. However, existing SSOD approaches mainly focus on horizontal objects, leaving oriented objects common in aerial…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Online Multi-Object Tracking (MOT) from videos is a challenging computer vision task which has been extensively studied for decades. Most of the existing MOT algorithms are based on the Tracking-by-Detection (TBD) paradigm combined with…

Recent advances in deep learning have achieved promising performance for medical image analysis, while in most cases ground-truth annotations from human experts are necessary to train the deep model. In practice, such annotations are…

Object detection is one of the most important and fundamental aspects of computer vision tasks, which has been broadly utilized in pose estimation, object tracking and instance segmentation models. To obtain training data for object…