相关论文: Simulation-to-Reality domain adaptation for offlin…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

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…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

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…

3D object detection is essential for understanding 3D scenes. Contemporary techniques often require extensive annotated training data, yet obtaining point-wise annotations for point clouds is time-consuming and laborious. Recent…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

Existing 3D object detection suffers from expensive annotation costs and poor transferability to unknown data due to the domain gap, Unsupervised Domain Adaptation (UDA) aims to generalize detection models trained in labeled source domains…

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,…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective. They first label the objects with clear shapes in a track,…

The need for simulated data in autonomous driving applications has become increasingly important, both for validation of pretrained models and for training new models. In order for these models to generalize to real-world applications, it…

Domain adaptation for Cross-LiDAR 3D detection is challenging due to the large gap on the raw data representation with disparate point densities and point arrangements. By exploring domain-invariant 3D geometric characteristics and motion…

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

For monocular depth estimation, acquiring ground truths for real data is not easy, and thus domain adaptation methods are commonly adopted using the supervised synthetic data. However, this may still incur a large domain gap due to the lack…

Autonomous off-road navigation faces challenges due to diverse, unstructured environments, requiring robust perception with both geometric and semantic understanding. However, scarce densely labeled semantic data limits generalization…

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…