相关论文: Exploring Data Augmentation for Multi-Modality 3D …

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

In autonomous driving, LiDAR point-clouds and RGB images are two major data modalities with complementary cues for 3D object detection. However, it is quite difficult to sufficiently use them, due to large inter-modal discrepancies. To…

Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However,…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Recent unsupervised multi-object detection models have shown impressive performance improvements, largely attributed to novel architectural inductive biases. Unfortunately, they may produce suboptimal object encodings for downstream tasks.…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Multi-modal 3D object detection with bird's eye view (BEV) has achieved desired advances on benchmarks. Nonetheless, the accuracy may drop significantly in the real world due to data corruption such as sensor configurations for LiDAR and…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Data augmentation has been widely adopted for object detection in 3D point clouds. However, all previous related efforts have focused on manually designing specific data augmentation methods for individual architectures. In this work, we…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

It is difficult to collect data on a large scale in a monocular depth estimation because the task requires the simultaneous acquisition of RGB images and depths. Data augmentation is thus important to this task. However, there has been…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

2D-based Industrial Anomaly Detection has been widely discussed, however, multimodal industrial anomaly detection based on 3D point clouds and RGB images still has many untouched fields. Existing multimodal industrial anomaly detection…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Machine vision systems, which can efficiently manage extensive visual perception tasks, are becoming increasingly popular in industrial production and daily life. Due to the challenge of simultaneously obtaining accurate depth and texture…

Data augmentation is widely used to train deep learning models to address data scarcity. However, traditional data augmentation (TDA) typically relies on simple geometric transformation, such as random rotation and rescaling, resulting in…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…