相关论文: 3D Object Tracking with Transformer

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To…

Transformers are a popular choice for classification tasks and as backbones for object detection tasks. However, their high latency brings challenges in their adaptation to lightweight object detection systems. We present an approximation…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

Effective feature fusion of multispectral images plays a crucial role in multi-spectral object detection. Previous studies have demonstrated the effectiveness of feature fusion using convolutional neural networks, but these methods are…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

While the Transformer architecture has become ubiquitous in the machine learning field, its adaptation to 3D shape recognition is non-trivial. Due to its quadratic computational complexity, the self-attention operator quickly becomes…