相关论文: A Fast Hybrid Cascade Network for Voxel-based 3D O…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

In this paper, we introduce a new method for classifying 3D objects. Our main idea is to project a 3D object onto a spherical domain centered around its barycenter and develop neural network to classify the spherical projection. We…

The goal of this paper is to compare surface-based and volumetric 3D object shape representations, as well as viewer-centered and object-centered reference frames for single-view 3D shape prediction. We propose a new algorithm for…

When working with three-dimensional data, choice of representation is key. We explore voxel-based models, and present evidence for the viability of voxellated representations in applications including shape modeling and object…

High-quality 3D object recognition is an important component of many vision and robotics systems. We tackle the object recognition problem using two data representations, to achieve leading results on the Princeton ModelNet challenge. The…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

This paper aims to classify and locate objects accurately and efficiently, without using bounding box annotations. It is challenging as objects in the wild could appear at arbitrary locations and in different scales. In this paper, we…

Recently, Convolutional Neural Networks have shown promising results for 3D geometry prediction. They can make predictions from very little input data such as a single color image. A major limitation of such approaches is that they only…

During the last years, many advances have been made in tasks like3D model retrieval, 3D model classification, and 3D model segmentation.The typical 3D representations such as point clouds, voxels, and poly-gon meshes are mostly suitable for…

Hand pose estimation from monocular depth images has been an important and challenging problem in the Computer Vision community. In this paper, we present a novel approach to estimate 3D hand joint locations from 2D depth images. Unlike…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…

Object detection is a challenging task in visual understanding domain, and even more so if the supervision is to be weak. Recently, few efforts to handle the task without expensive human annotations is established by promising deep neural…