相关论文: An End-to-End Transformer Model for 3D Object Dete…

3D dense captioning aims to generate multiple captions localized with their associated object regions. Existing methods follow a sophisticated ``detect-then-describe'' pipeline equipped with numerous hand-crafted components. However, these…

In recent years, deep-learning-based point cloud registration methods have shown significant promise. Furthermore, learning-based 3D detectors have demonstrated their effectiveness in encoding semantic information from LiDAR data. In this…

3D object detection received increasing attention in autonomous driving recently. Objects in 3D scenes are distributed with diverse orientations. Ordinary detectors do not explicitly model the variations of rotation and reflection…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

In the current demand for automation in the agro-food industry, accurately detecting and localizing relevant objects in 3D is essential for successful robotic operations. However, this is a challenge due the presence of occlusions.…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

Transformer-based object detectors (DETR) have shown significant performance across machine vision tasks, ultimately in object detection. This detector is based on a self-attention mechanism along with the transformer encoder-decoder…

The DEtection TRansformer (DETR) opened new possibilities for object detection by modeling it as a translation task: converting image features into object-level representations. Previous works typically add expensive modules to DETR to…

Balancing efficiency and accuracy is a long-standing problem for deploying deep learning models. The trade-off is even more important for real-time safety-critical systems like autonomous vehicles. In this paper, we propose an effective…

The recently proposed end-to-end transformer detectors, such as DETR and Deformable DETR, have a cascade structure of stacking 6 decoder layers to update object queries iteratively, without which their performance degrades seriously. In…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

DETR is the first end-to-end object detector using a transformer encoder-decoder architecture and demonstrates competitive performance but low computational efficiency on high resolution feature maps. The subsequent work, Deformable DETR,…

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs…

In this paper, we are interested in Detection Transformer (DETR), an end-to-end object detection approach based on a transformer encoder-decoder architecture without hand-crafted postprocessing, such as NMS. Inspired by Conditional DETR, an…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

RT-DETR is the first real-time end-to-end transformer-based object detector. Its efficiency comes from the framework design and the Hungarian matching. However, compared to dense supervision detectors like the YOLO series, the Hungarian…