相关论文: AA3DNet: Attention Augmented Real Time 3D Object D…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

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…

Object detection is a significant field in autonomous driving. Popular sensors for this task include cameras and LiDAR sensors. LiDAR sensors offer several advantages, such as insensitivity to light changes, like in a dark setting and the…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

Efficiently and accurately detecting people from 3D point cloud data is of great importance in many robotic and autonomous driving applications. This fundamental perception task is still very challenging due to (i) significant deformations…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…