相关论文: Analysis of voxel-based 3D object detection method…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

Recent advances on 3D object detection heavily rely on how the 3D data are represented, \emph{i.e.}, voxel-based or point-based representation. Many existing high performance 3D detectors are point-based because this structure can better…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-specific embeddings that are tailored either for semantic…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

Despite the continued successes of computationally efficient deep neural network architectures for video object detection, performance continually arrives at the great trilemma of speed versus accuracy versus computational resources (pick…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…

Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…

Recent studies in 3D object detection for autonomous vehicles aim to enrich features through the utilization of multi-modal setups or the extraction of local patterns within LiDAR point clouds. However, multi-modal methods face significant…

Inferring 3D locations and shapes of multiple objects from a single 2D image is a long-standing objective of computer vision. Most of the existing works either predict one of these 3D properties or focus on solving both for a single object.…

Efficient and accurate object detection is an important topic in the development of computer vision systems. With the advent of deep learning techniques, the accuracy of object detection has increased significantly. The project aims to…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

3D object recognition accuracy can be improved by learning the multi-scale spatial features from 3D spatial geometric representations of objects such as point clouds, 3D models, surfaces, and RGB-D data. Current deep learning approaches…

We present a method for discovering never-seen-before objects in 3D point clouds obtained from sensors like Microsoft Kinect. We generate supervoxels directly from the point cloud data and use them with a Siamese network, built on a…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…