相关论文: 3D Annotation Of Arbitrary Objects In The Wild

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

Spatial intelligence is emerging as a transformative frontier in AI, yet it remains constrained by the scarcity of large-scale 3D datasets. Unlike the abundant 2D imagery, acquiring 3D data typically requires specialized sensors and…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Autonomous driving requires 3D perception of vehicles and other objects in the in environment. Much of the current methods support 2D vehicle detection. This paper proposes a flexible pipeline to adopt any 2D detection network and fuse it…

This paper proposes an approach for rapid bounding box annotation for object detection datasets. The procedure consists of two stages: The first step is to annotate a part of the dataset manually, and the second step proposes annotations…

Inspired by the recent success of application of dense data approach by using ORB-SLAM and RGB-D SLAM, we propose a better pipeline of real-time SLAM in dynamics environment. Different from previous SLAM which can only handle static scenes,…

Detecting road features is a key enabler for autonomous driving and localization. For instance, a reliable detection of poles which are widespread in road environments can improve localization. Modern deep learning-based perception systems…

Though much progress has been achieved in single-image 3D human recovery, estimating 3D model for in-the-wild images remains a formidable challenge. The reason lies in the fact that obtaining high-quality 3D annotations for in-the-wild…

Supervised training of object detectors requires well-annotated large-scale datasets, whose production is costly. Therefore, some efforts have been made to obtain annotations in economical ways, such as cloud sourcing. However, datasets…

Effective waste sorting is critical for sustainable recycling, yet AI research in this domain continues to lag behind commercial systems due to limited datasets and reliance on legacy object detectors. In this work, we advance AI-driven…

Current methods for 3D semantic segmentation propose training models with limited annotations to address the difficulty of annotating large, irregular, and unordered 3D point cloud data. They usually focus on the 3D domain only, without…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Data annotation in autonomous vehicles is a critical step in the development of Deep Neural Network (DNN) based models or the performance evaluation of the perception system. This often takes the form of adding 3D bounding boxes on…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…