相关论文: Improving 3D Object Detection with Channel-wise Tr…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

In this paper, we focus on exploring the robustness of the 3D object detection in point clouds, which has been rarely discussed in existing approaches. We observe two crucial phenomena: 1) the detection accuracy of the hard objects, e.g.,…

Machine vision systems, which can efficiently manage extensive visual perception tasks, are becoming increasingly popular in industrial production and daily life. Due to the challenge of simultaneously obtaining accurate depth and texture…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Current 3D object detection methods for indoor scenes mainly follow the voting-and-grouping strategy to generate proposals. However, most methods utilize instance-agnostic groupings, such as ball query, leading to inconsistent semantic…

Range-view projection provides an efficient method for transforming 3D LiDAR point clouds into 2D range image representations, enabling effective processing with 2D deep learning models. However, a major challenge in this projection is the…

As 3D object detection on point clouds relies on the geometrical relationships between the points, non-standard object shapes can hinder a method's detection capability. However, in safety-critical settings, robustness to out-of-domain and…

Existing offboard 3D detectors always follow a modular pipeline design to take advantage of unlimited sequential point clouds. We have found that the full potential of offboard 3D detectors is not explored mainly due to two reasons: (1) the…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

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…

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…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

This paper is not motivated to seek innovation within the attention mechanism. Instead, it focuses on overcoming the existing trade-offs between accuracy and efficiency within the context of point cloud processing, leveraging the power of…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…