相关论文: 3D Object Detection with Pointformer

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

We propose the use of a Transformer to accurately predict normals from point clouds with noise and density variations. Previous learning-based methods utilize PointNet variants to explicitly extract multi-scale features at different input…

While the Transformer architecture has become ubiquitous in the machine learning field, its adaptation to 3D shape recognition is non-trivial. Due to its quadratic computational complexity, the self-attention operator quickly becomes…

Transformers have been recently explored for 3D point cloud understanding with impressive progress achieved. A large number of points, over 0.1 million, make the global self-attention infeasible for point cloud data. Thus, most methods…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

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…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Pre-trained large-scale models have exhibited remarkable efficacy in computer vision, particularly for 2D image analysis. However, when it comes to 3D point clouds, the constrained accessibility of data, in contrast to the vast repositories…

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…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…