相关论文: 3D-VField: Adversarial Augmentation of Point Cloud…

In this paper, we investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

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…

Deep learning has achieved notable success in 3D object detection with the advent of large-scale point cloud datasets. However, severe performance degradation in the past trained classes, i.e., catastrophic forgetting, still remains a…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

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…

Rare-object detection remains a challenging task in autonomous driving systems, particularly when relying solely on point cloud data. Although Vision-Language Models (VLMs) exhibit strong capabilities in image understanding, their potential…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Modern autonomous driving systems rely heavily on deep learning models to process point cloud sensory data; meanwhile, deep models have been shown to be susceptible to adversarial attacks with visually imperceptible perturbations. Despite…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Object detection from images captured by Unmanned Aerial Vehicles (UAVs) is becoming increasingly useful. Despite the great success of the generic object detection methods trained on ground-to-ground images, a huge performance drop is…

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,…

We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of…

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…

Machine vision systems, which can efficiently manage extensive visual perception tasks, are becoming increasingly popular in industrial production and daily life. Due to the challenge of simultaneously obtaining accurate depth and texture…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…