相关论文: CIA-SSD: Confident IoU-Aware Single-Stage Object D…

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…

3D object detection is one of the most important tasks in autonomous driving and robotics. Our research focuses on tackling low efficiency issue of point-based methods on large-scale point clouds. Existing point-based methods adopt farthest…

SSD (Single Shot Multibox Detector) is one of the best object detection algorithms with both high accuracy and fast speed. However, SSD's feature pyramid detection method makes it hard to fuse the features from different scales. In this…

Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…

Recent one-stage object detectors follow a per-pixel prediction approach that predicts both the object category scores and boundary positions from every single grid location. However, the most suitable positions for inferring different…

3D object detection using LiDAR-based point cloud data and deep neural networks is essential in autonomous driving technology. However, deploying state-of-the-art models on edge devices present challenges due to high computational demands…

In 2D/3D object detection task, Intersection-over-Union (IoU) has been widely employed as an evaluation metric to evaluate the performance of different detectors in the testing stage. However, during the training stage, the common distance…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Modern CNN-based object detectors rely on bounding box regression and non-maximum suppression to localize objects. While the probabilities for class labels naturally reflect classification confidence, localization confidence is absent. This…

There are mainly two types of state-of-the-art object detectors. On one hand, we have two-stage detectors, such as Faster R-CNN (Region-based Convolutional Neural Networks) or Mask R-CNN, that (i) use a Region Proposal Network to generate…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

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…

Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…

Estimating 3D orientation and translation of objects is essential for infrastructure-less autonomous navigation and driving. In case of monocular vision, successful methods have been mainly based on two ingredients: (i) a network generating…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…