相关论文: From Voxel to Point: IoU-guided 3D Object Detectio…

Point cloud data is pivotal in applications like autonomous driving, virtual reality, and robotics. However, its substantial volume poses significant challenges in storage and transmission. In order to obtain a high compression ratio,…

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…

In this paper, we propose to learn a deep fitting degree scoring network for monocular 3D object detection, which aims to score fitting degree between proposals and object conclusively. Different from most existing monocular frameworks…

360{\deg} cameras have gained popularity over the last few years. In this paper, we propose two fundamental techniques -- Field-of-View IoU (FoV-IoU) and 360Augmentation for object detection in 360{\deg} images. Although most object…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

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…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

3D object tracking in point clouds is still a challenging problem due to the sparsity of LiDAR points in dynamic environments. In this work, we propose a Siamese voxel-to-BEV tracker, which can significantly improve the tracking performance…

Most deep learning object detectors are based on the anchor mechanism and resort to the Intersection over Union (IoU) between predefined anchor boxes and ground truth boxes to evaluate the matching quality between anchors and objects. In…

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 volumetric 3D reconstruction methods can produce very accurate results, with plausible geometry even for unobserved surfaces. However, they face an undesirable trade-off when it comes to multi-view fusion. They can fuse all available…

As a fundamental problem in computer vision, 3D object detection is experiencing rapid growth. To extract the point-wise features from the irregularly and sparsely distributed points, previous methods usually take a feature grouping module…

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D…

The main challenge of monocular 3D object detection is the accurate localization of 3D center. Motivated by a new and strong observation that this challenge can be remedied by a 3D-space local-grid search scheme in an ideal case, we propose…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Unlike 2D object detection where all RoI features come from grid pixels, the RoI feature extraction of 3D point cloud object detection is more diverse. In this paper, we first compare and analyze the differences in structure and performance…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

Point-cloud based 3D object detectors recently have achieved remarkable progress. However, most studies are limited to the development of network architectures for improving only their accuracy without consideration of the computational…