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

Selection is a fundamental task in exploratory analysis and visualization of 3D point clouds. Prior researches on selection methods were developed mainly based on heuristics such as local point density, thus limiting their applicability in…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

Object detection serves as a significant step in improving performance of complex downstream computer vision tasks. It has been extensively studied for many years now and current state-of-the-art 2D object detection techniques proffer…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

We propose an efficient Stereographic Projection Neural Network (SPNet) for learning representations of 3D objects. We first transform a 3D input volume into a 2D planar image using stereographic projection. We then present a shallow 2D…

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…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In this…

4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse driving scenarios. Nevertheless, the sparse and noisy nature of 4D…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…

We propose an approach to predict the 3D shape and pose for the objects present in a scene. Existing learning based methods that pursue this goal make independent predictions per object, and do not leverage the relationships amongst them.…

In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

In this technical report, we introduce our submission to the Waymo 3D Detection leaderboard. Our network is based on the Centerpoint architecture, but with significant improvements. We design a 2D backbone to utilize multi-scale features…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

In this paper, we propose multi-stage and deformable deep convolutional neural networks for object detection. This new deep learning object detection diagram has innovations in multiple aspects. In the proposed new deep architecture, a new…