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

We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object…

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects.…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…

Ever since the prevalent use of the LiDARs in autonomous driving, tremendous improvements have been made to the learning on the point clouds. However, recent progress largely focuses on detecting objects in a single 360-degree sweep,…

In response to the growing demand for 3D object detection in applications such as autonomous driving, robotics, and augmented reality, this work focuses on the evaluation of semi-supervised learning approaches for point cloud data. The…

We propose a semi-automatic bounding box annotation method for visual object tracking by utilizing temporal information with a tracking-by-detection approach. For detection, we use an off-the-shelf object detector which is trained…

Accurately annotating multiple 3D objects in LiDAR scenes is laborious and challenging. While a few previous studies have attempted to leverage semi-automatic methods for cost-effective bounding box annotation, such methods have limitations…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Annotating real-world LiDAR point clouds for use in intelligent autonomous systems is costly. To overcome this limitation, self-training-based Unsupervised Domain Adaptation (UDA) has been widely used to improve point cloud semantic…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

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…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

The use of synthetic data in indoor 3D object detection offers the potential of greatly reducing the manual labor involved in 3D annotations and training effective zero-shot detectors. However, the complicated domain shifts across…

Sim2Real domain adaptation (DA) research focuses on the constrained setting of adapting from a labeled synthetic source domain to an unlabeled or sparsely labeled real target domain. However, for high-stakes applications (e.g. autonomous…

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…