相关论文: 3D for Free: Crossmodal Transfer Learning using HD…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

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…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

This paper presents a model-free, setting-independent method for online detection of dynamic objects in 3D lidar data. We explicitly compensate for the moving-while-scanning operation (motion distortion) of present-day 3D spinning lidar…

In this study, we address a gap in existing unsupervised domain adaptation approaches on LiDAR-based 3D object detection, which have predominantly concentrated on adapting between established, high-density autonomous driving datasets. We…

Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints…

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…

3D object detection plays a pivotal role in many applications, most notably autonomous driving and robotics. These applications are commonly deployed on edge devices to promptly interact with the environment, and often require near…

Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and…

Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…

To ensure safe urban driving for autonomous platforms, it is crucial not only to develop high-performance object detection techniques but also to establish a diverse and representative dataset that captures various urban environments and…

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…

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Object class detection has been a synonym for 2D bounding box localization for the longest time, fueled by the success of powerful statistical learning techniques, combined with robust image representations. Only recently, there has been a…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…