相关论文: DetFlowTrack: 3D Multi-object Tracking based on Si…

Motion is a dominant cue in automated driving systems. Optical flow is typically computed to detect moving objects and to estimate depth using triangulation. In this paper, our motivation is to leverage the existing dense optical flow to…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

In autonomous driving, LiDAR point-clouds and RGB images are two major data modalities with complementary cues for 3D object detection. However, it is quite difficult to sufficiently use them, due to large inter-modal discrepancies. To…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data can significantly enhance autonomous driving perception abilities. However, temporal asynchrony and limited wireless communication in traffic environments can lead to…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Many Multi-Object Tracking (MOT) approaches exploit motion information to associate all the detected objects across frames. However, many methods that rely on filtering-based algorithms, such as the Kalman Filter, often work well in linear…

LiDAR-based 3D single object tracking (3D SOT) is a critical task in robotics and autonomous systems. Existing methods typically follow frame-wise motion estimation or a sequence-based paradigm. However, the two-frame methods are efficient…

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…

Object tracking and 3D reconstruction are often performed together, with tracking used as input for reconstruction. However, the obtained reconstructions also provide useful information for improving tracking. We propose a novel method that…

In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…

Recent 3D multi-object tracking (3D MOT) methods mainly follow tracking-by-detection pipelines, but often suffer from high false positives, missed detections, and identity switches, especially in crowded and small-object scenarios. To…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

Multi-Object Tracking (MOT) remains a vital component of intelligent video analysis, which aims to locate targets and maintain a consistent identity for each target throughout a video sequence. Existing works usually learn a discriminative…

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames.…

3D multi-object tracking (3D MOT) stands as a pivotal domain within autonomous driving, experiencing a surge in scholarly interest and commercial promise over recent years. Despite its paramount significance, 3D MOT confronts a myriad of…

3D single object tracking plays an essential role in many applications, such as autonomous driving. It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…