相关论文: Voxel Set Transformer: A Set-to-Set Approach to 3D…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

Medical image analysis using deep learning has recently been prevalent, showing great performance for various downstream tasks including medical image segmentation and its sibling, volumetric image segmentation. Particularly, a typical…

Although point-based networks are demonstrated to be accurate for 3D point cloud modeling, they are still falling behind their voxel-based competitors in 3D detection. We observe that the prevailing set abstraction design for down-sampling…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…

This paper presents a new method to solve keypoint detection and instance association by using Transformer. For bottom-up multi-person pose estimation models, they need to detect keypoints and learn associative information between…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region…

Recent Vision Transformer~(ViT) models have demonstrated encouraging results across various computer vision tasks, thanks to their competence in modeling long-range dependencies of image patches or tokens via self-attention. These models,…

Despite the impressive representation capacity of vision transformer models, current light-weight vision transformer models still suffer from inconsistent and incorrect dense predictions at local regions. We suspect that the power of their…

We propose octree-based transformers, named OctFormer, for 3D point cloud learning. OctFormer can not only serve as a general and effective backbone for 3D point cloud segmentation and object detection but also have linear complexity and is…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…

Masked autoencoding has become a successful pretraining paradigm for Transformer models for text, images, and, recently, point clouds. Raw automotive datasets are suitable candidates for self-supervised pre-training as they generally are…

This work presents SGCDet, a novel multi-view indoor 3D object detection framework based on adaptive 3D volume construction. Unlike previous approaches that restrict the receptive field of voxels to fixed locations on images, we introduce a…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

Contemporary diffusion models built upon U-Net or Diffusion Transformer (DiT) architectures have revolutionized image generation through transformer-based attention mechanisms. The prevailing paradigm has commonly employed self-attention…

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…

Event cameras are neuromorphic vision sensors that record a scene as sparse and asynchronous event streams. Most event-based methods project events into dense frames and process them using conventional vision models, resulting in high…

In the technical report, we present a novel transformer-based framework for nuScenes lidar-based object detection task, termed Spatial Expansion Group Transformer (SEGT). To efficiently handle the irregular and sparse nature of point cloud,…

Vision Transformers has demonstrated competitive performance on computer vision tasks benefiting from their ability to capture long-range dependencies with multi-head self-attention modules and multi-layer perceptron. However, calculating…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…