相关论文: PETR: Position Embedding Transformation for Multi-…

The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…

Inspired by the great success achieved by CNN in image recognition, view-based methods applied CNNs to model the projected views for 3D object understanding and achieved excellent performance. Nevertheless, multi-view CNN models cannot…

This paper presents a general scheme for enhancing the convergence and performance of DETR (DEtection TRansformer). We investigate the slow convergence problem in transformers from a new perspective, suggesting that it arises from the…

Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…

Tracking by detection is a common approach to solving the Multiple Object Tracking problem. In this paper we show how learning a deep similarity metric can improve three key aspects of pedestrian tracking on a multiple object tracking…

The DEtection TRansformer (DETR) opened new possibilities for object detection by modeling it as a translation task: converting image features into object-level representations. Previous works typically add expensive modules to DETR to…

Dense video captioning is a challenging task that aims to localize and caption multiple events in an untrimmed video. Recent studies mainly follow the transformer-based architecture to jointly perform the two sub-tasks, i.e., event…

Training high-accuracy 3D detectors necessitates massive labeled 3D annotations with 7 degree-of-freedom, which is laborious and time-consuming. Therefore, the form of point annotations is proposed to offer significant prospects for…

The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

With the rise of robotics, LiDAR-based 3D object detection has garnered significant attention in both academia and industry. However, existing datasets and methods predominantly focus on vehicle-mounted platforms, leaving other autonomous…

Small object detection aims to localize and classify small objects within images. With recent advances in large-scale vision-language pretraining, finetuning pretrained object detection models has emerged as a promising approach. However,…

Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

We present a novel architecture for 3D object detection, M3DeTR, which combines different point cloud representations (raw, voxels, bird-eye view) with different feature scales based on multi-scale feature pyramids. M3DeTR is the first…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…