相关论文: Group-Free 3D Object Detection via Transformers

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

The annotation of 3D datasets is required for semantic-segmentation and object detection in scene understanding. In this paper we present a framework for the weakly supervision of a point clouds transformer that is used for 3D object…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

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…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…

The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

We present a novel two-stage fully sparse convolutional 3D object detection framework, named CAGroup3D. Our proposed method first generates some high-quality 3D proposals by leveraging the class-aware local group strategy on the object…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

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…

3D object detection from multi-view images in traffic scenarios has garnered significant attention in recent years. Many existing approaches rely on object queries that are generated from 3D reference points to localize objects. However, a…