相关论文: 3D-MAN: 3D Multi-frame Attention Network for Objec…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…

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…

Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…

Multiple Object Tracking (MOT) plays an important role in solving many fundamental problems in video analysis in computer vision. Most MOT methods employ two steps: Object Detection and Data Association. The first step detects objects of…

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

In this paper, we present a real-time 3D detection approach considering time-spatial feature map aggregation from different time steps of deep neural model inference (named feature map flow, FMF). Proposed approach improves the quality of…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Since the introduction of the self-attention mechanism and the adoption of the Transformer architecture for Computer Vision tasks, the Vision Transformer-based architectures gained a lot of popularity in the field, being used for tasks such…

Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory…

Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

A practical autonomous driving system urges the need to reliably and accurately detect vehicles and persons. In this report, we introduce a state-of-the-art 2D object detection system for autonomous driving scenarios. Specifically, we…

A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can…

To address 3D object retrieval, substantial efforts have been made to generate highly discriminative descriptors of 3D objects represented by a single modality, e.g., voxels, point clouds or multi-view images. It is promising to leverage…

Accurate and robust detection of multi-class objects in optical remote sensing images is essential to many real-world applications such as urban planning, traffic control, searching and rescuing, etc. However, state-of-the-art object…

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…