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

Recent advancements in deep-learning methods for object detection in point-cloud data have enabled numerous roadside applications, fostering improvements in transportation safety and management. However, the intricate nature of point-cloud…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…

This paper focuses on source-free domain adaptation for object detection in computer vision. This task is challenging and of great practical interest, due to the cost of obtaining annotated data sets for every new domain. Recent research…

Self-training is a simple yet effective method for semi-supervised learning, during which pseudo-label selection plays an important role for handling confirmation bias. Despite its popularity, applying self-training to landmark detection…

3D object detection is a core perceptual challenge for robotics and autonomous driving. However, the class-taxonomies in modern autonomous driving datasets are significantly smaller than many influential 2D detection datasets. In this work,…

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…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…

We study adapting trained object detectors to unseen domains manifesting significant variations of object appearance, viewpoints and backgrounds. Most current methods align domains by either using image or instance-level feature alignment…

Semi-supervised object detection is crucial for 3D scene understanding, efficiently addressing the limitation of acquiring large-scale 3D bounding box annotations. Existing methods typically employ a teacher-student framework with…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

We consider the problem of domain adaptation in LiDAR-based 3D object detection. Towards this, we propose a simple yet effective training strategy called Gradual Batch Alternation that can adapt from a large labeled source domain to an…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

LiDAR based 3D object detectors typically need a large amount of detailed-labeled point cloud data for training, but these detailed labels are commonly expensive to acquire. In this paper, we propose a manual-label free 3D detection…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

In this work, we present LaserFlow, an efficient method for 3D object detection and motion forecasting from LiDAR. Unlike the previous work, our approach utilizes the native range view representation of the LiDAR, which enables our method…

Scene flow is the task of estimating 3D motion vectors to individual points of a dynamic 3D scene. Motion vectors have shown to be beneficial for downstream tasks such as action classification and collision avoidance. However, data…

Though deep learning based scene text detection has achieved great progress, well-trained detectors suffer from severe performance degradation for different domains. In general, a tremendous amount of data is indispensable to train the…