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

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

Current 3D object detection models follow a single dataset-specific training and testing paradigm, which often faces a serious detection accuracy drop when they are directly deployed in another dataset. In this paper, we study the task of…

Deep learning has attained remarkable success in many 3D visual recognition tasks, including shape classification, object detection, and semantic segmentation. However, many of these results rely on manually collecting densely annotated…

Open-world perception aims to develop a model adaptable to novel domains and various sensor configurations and can understand uncommon objects and corner cases. However, current research lacks sufficiently comprehensive open-world 3D…

In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…

Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

We tackle the challenging problem of Open-Set Object Detection (OSOD), which aims to detect both known and unknown objects in unlabelled images. The main difficulty arises from the absence of supervision for these unknown classes, making it…

We propose a deep convolutional object detector for automated driving applications that also estimates classification, pose and shape uncertainty of each detected object. The input consists of a multi-layer grid map which is well-suited for…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…

How can we segment varying numbers of objects where each specific object represents its own separate class? To make the problem even more realistic, how can we add and delete classes on the fly without retraining or fine-tuning? This is the…

We tackle semi-supervised object detection based on motion cues. Recent results suggest that heuristic-based clustering methods in conjunction with object trackers can be used to pseudo-label instances of moving objects and use these as…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

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…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…