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

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

Research on monocular 3D object detection is being actively studied, and as a result, performance has been steadily improving. However, 3D object detection performance is significantly reduced when applied to a camera system different from…

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Data augmentation is an important technique to reduce overfitting and improve learning performance, but existing works on data augmentation for 3D point cloud data are based on heuristics. In this work, we instead propose to automatically…

There have been significant advances in neural networks for both 3D object detection using LiDAR and 2D object detection using video. However, it has been surprisingly difficult to train networks to effectively use both modalities in a way…

Recent advances in multi-modal detection have significantly improved detection accuracy in challenging environments (e.g., low light, overexposure). By integrating RGB with modalities such as thermal and depth, multi-modal fusion increases…

Self-attention modules have demonstrated remarkable capabilities in capturing long-range relationships and improving the performance of point cloud tasks. However, point cloud objects are typically characterized by complex, disordered, and…

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…

Place recognition is an important task for robots and autonomous cars to localize themselves and close loops in pre-built maps. While single-modal sensor-based methods have shown satisfactory performance, cross-modal place recognition that…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

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…

The ability to jointly learn from multiple modalities, such as text, audio, and visual data, is a defining feature of intelligent systems. While there have been promising advances in designing neural networks to harness multimodal data, the…

With the advancement of autonomous driving, numerous annotated multi-modality datasets have become available. This presents an opportunity to develop domain-adaptive 3D object detectors for new environments without relying on…

In this paper we explore the recent topic of point cloud completion, guided by an auxiliary image. We show how it is possible to effectively combine the information from the two modalities in a localized latent space, thus avoiding the need…

Monocular 3D object detection is valuable for various applications such as robotics and AR/VR. Existing methods are confined to closed-set settings, where the training and testing sets consist of the same scenes and/or object categories.…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

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…

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…

In this paper, we propose enhancing monocular depth estimation by adding 3D points as depth guidance. Unlike existing depth completion methods, our approach performs well on extremely sparse and unevenly distributed point clouds, which…