相关论文: 4D-Net for Learned Multi-Modal Alignment

We present a novel approach for oriented object detection, named TricubeNet, which localizes oriented objects using visual cues ($i.e.,$ heatmap) instead of oriented box offsets regression. We represent each object as a 2D Tricube kernel…

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most…

Accurate and reliable 3D detection is vital for many applications including autonomous driving vehicles and service robots. In this paper, we present a flexible and high-performance 3D detection framework, named MPPNet, for 3D temporal…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

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…

Relying on monocular image data for precise 3D object detection remains an open problem, whose solution has broad implications for cost-sensitive applications such as traffic monitoring. We present UrbanNet, a modular architecture for long…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

In this survey, we first introduce the background of popular sensors used for self-driving, their data properties, and the corresponding object detection algorithms. Next, we discuss existing datasets that can be used for evaluating…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

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…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Deep neural network based learning approaches is widely utilized for image classification or object detection based problems with remarkable outcomes. Realtime Object state estimation of objects can be used to track and estimate the…

In the past few years we have seen great advances in object perception (particularly in 4D space-time dimensions) thanks to deep learning methods. However, they typically rely on large amounts of high-quality labels to achieve good…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Learning object-centric representations of multi-object scenes is a promising approach towards machine intelligence, facilitating high-level reasoning and control from visual sensory data. However, current approaches for unsupervised…

How to aggregate multi-view representations of a 3D object into an informative and discriminative one remains a key challenge for multi-view 3D object retrieval. Existing methods either use view-wise pooling strategies which neglect the…

Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of…

3D object recognition has successfully become an appealing research topic in the real-world. However, most existing recognition models unreasonably assume that the categories of 3D objects cannot change over time in the real-world. This…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…