相关论文: Real-time 3D Object Detection using Feature Map Fl…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Human actions recognition is a fundamental task in artificial vision, that has earned a great importance in recent years due to its multiple applications in different areas. %, such as the study of human behavior, security or video…

False negatives (FN) in 3D object detection, {\em e.g.}, missing predictions of pedestrians, vehicles, or other obstacles, can lead to potentially dangerous situations in autonomous driving. While being fatal, this issue is understudied in…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

As the perception range of LiDAR increases, LiDAR-based 3D object detection becomes a dominant task in the long-range perception task of autonomous driving. The mainstream 3D object detectors usually build dense feature maps in the network…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

We present Context Forest (ConF), a technique for predicting properties of the objects in an image based on its global appearance. Compared to standard nearest-neighbour techniques, ConF is more accurate, fast and memory efficient. We train…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

This paper presents a modular lightweight network model for road objects detection, such as car, pedestrian and cyclist, especially when they are far away from the camera and their sizes are small. Great advances have been made for the deep…

Video object detection is a fundamental yet challenging task in computer vision. One practical solution is to take advantage of temporal information from the video and apply feature aggregation to enhance the object features in each frame.…

In this paper, we propose an efficient feature pruning strategy for 3D small object detection. Conventional 3D object detection methods struggle on small objects due to the weak geometric information from a small number of points. Although…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

We present FlowDet, the first formulation of object detection using modern Conditional Flow Matching techniques. This work follows from DiffusionDet, which originally framed detection as a generative denoising problem in the bounding box…

Generative models now produce images with such stunning realism that they can easily deceive the human eye. While this progress unlocks vast creative potential, it also presents significant risks, such as the spread of misinformation.…

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…

Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away.…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

The technology of dynamic map fusion among networked vehicles has been developed to enlarge sensing ranges and improve sensing accuracies for individual vehicles. This paper proposes a federated learning (FL) based dynamic map fusion…