相关论文: Improved Pillar with Fine-grained Feature for 3D O…

LiDAR has become one of the primary 3D object detection sensors in autonomous driving. However, LiDAR's diverging point pattern with increasing distance results in a non-uniform sampled point cloud ill-suited to discretized volumetric…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

Existing LiDAR-based 3D object detectors usually focus on the single-frame detection, while ignoring the spatiotemporal information in consecutive point cloud frames. In this paper, we propose an end-to-end online 3D video object detector…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

Single stage deep learning algorithm for 2D object detection was made popular by Single Shot MultiBox Detector (SSD) and it was heavily adopted in several embedded applications. PointPillars is a state of the art 3D object detection…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

Developing high-performance, real-time architectures for LiDAR-based 3D object detectors is essential for the successful commercialization of autonomous vehicles. Pillar-based methods stand out as a practical choice for onboard deployment…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Lidar based 3D object detection and classification tasks are essential for automated driving(AD). A Lidar sensor can provide the 3D point coud data reconstruction of the surrounding environment. But the detection in 3D point cloud still…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

3D object detection in point clouds is important for autonomous driving systems. A primary challenge in 3D object detection stems from the sparse distribution of points within the 3D scene. Existing high-performance methods typically employ…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…