相关论文: Manual-Label Free 3D Detection via An Open-Source …

Learning to build 3D scene graphs is essential for real-world perception in a structured and rich fashion. However, previous 3D scene graph generation methods utilize a fully supervised learning manner and require a large amount of…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

While modern visual recognition systems have made significant advancements, many continue to struggle with the open problem of learning from few exemplars. This paper focuses on the task of object detection in the setting where object…

3D semantic occupancy prediction is an emerging perception paradigm in autonomous driving, providing a voxel-level representation of both geometric details and semantic categories. However, its effectiveness is inherently constrained in…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

Acquiring labelled training data remains a costly task in real world machine learning projects to meet quantity and quality requirements. Recently Large Language Models (LLMs), notably GPT-4, have shown great promises in labelling data with…

Although deep learning-based computer-aided diagnosis systems have recently achieved expert-level performance, developing a robust deep learning model requires large, high-quality data with manual annotation, which is expensive to obtain.…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

In this work, we present an approach for unsupervised domain adaptation (DA) with the constraint, that the labeled source data are not directly available, and instead only access to a classifier trained on the source data is provided. Our…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

Crowdsourced 3D CAD models are becoming easily accessible online, and can potentially generate an infinite number of training images for almost any object category.We show that augmenting the training data of contemporary Deep Convolutional…

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…

Label assignment in object detection aims to assign targets, foreground or background, to sampled regions in an image. Unlike labeling for image classification, this problem is not well defined due to the object's bounding box. In this…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

Active Domain Adaptation (ADA) queries the labels of a small number of selected target samples to help adapting a model from a source domain to a target domain. The local context of queried data is important, especially when the domain gap…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Large-scale vision 2D vision language models, such as CLIP can be aligned with a 3D encoder to learn generalizable (open-vocabulary) 3D vision models. However, current methods require supervised pre-training for such alignment, and the…