相关论文: FAST3D: Flow-Aware Self-Training for 3D Object Det…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

3D multi-object tracking in LiDAR point clouds is a key ingredient for self-driving vehicles. Existing methods are predominantly based on the tracking-by-detection pipeline and inevitably require a heuristic matching step for the detection…

We present our approach to unsupervised domain adaptation for single-stage object detectors on top-view grid maps in automated driving scenarios. Our goal is to train a robust object detector on grid maps generated from custom sensor data…

3D object detection from point clouds is crucial in safety-critical autonomous driving. Although many works have made great efforts and achieved significant progress on this task, most of them suffer from expensive annotation cost and poor…

Despite its significant success, object detection in traffic and transportation scenarios requires time-consuming and laborious efforts in acquiring high-quality labeled data. Therefore, Unsupervised Domain Adaptation (UDA) for object…

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

In autonomous driving, accurately estimating the state of surrounding obstacles is critical for safe and robust path planning. However, this perception task is difficult, particularly for generic obstacles/objects, due to appearance and…

Data collection for autonomous driving is rapidly accelerating, but manual annotation, especially for 3D labels, remains a major bottleneck due to its high cost and labor intensity. Autolabeling has emerged as a scalable alternative,…

Self-training via pseudo labeling is a conventional, simple, and popular pipeline to leverage unlabeled data. In this work, we first construct a strong baseline of self-training (namely ST) for semi-supervised semantic segmentation via…

Both indoor and outdoor scene perceptions are essential for embodied intelligence. However, current sparse supervised 3D object detection methods focus solely on outdoor scenes without considering indoor settings. To this end, we propose a…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

Deep learning has attained remarkable success in many 3D visual recognition tasks, including shape classification, object detection, and semantic segmentation. However, many of these results rely on manually collecting densely annotated…

Meta-learning performs adaptation through a limited amount of support set, which may cause a sample bias problem. To solve this problem, transductive meta-learning is getting more and more attention, going beyond the conventional inductive…

Popular benchmarks for self-supervised LiDAR scene flow (stereoKITTI, and FlyingThings3D) have unrealistic rates of dynamic motion, unrealistic correspondences, and unrealistic sampling patterns. As a result, progress on these benchmarks is…

Accurate 3D object detection and understanding for self-driving cars heavily relies on LiDAR point clouds, necessitating large amounts of labeled data to train. In this work, we introduce an innovative pre-training approach, Grounded Point…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Object detection for autonomous vehicles has received increasing attention in recent years, where labeled data are often expensive while unlabeled data can be collected readily, calling for research on semi-supervised learning for this…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…