相关论文: Stereo Neural Vernier Caliper

In this work, we build a modular-designed codebase, formulate strong training recipes, design an error diagnosis toolbox, and discuss current methods for image-based 3D object detection. In particular, different from other highly mature…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

We present a method for decomposing the 3D scene flow observed from a moving stereo rig into stationary scene elements and dynamic object motion. Our unsupervised learning framework jointly reasons about the camera motion, optical flow, and…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

This paper presents a stereo object matching method that exploits both 2D contextual information from images as well as 3D object-level information. Unlike existing stereo matching methods that exclusively focus on the pixel-level…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Curriculum learning techniques are a viable solution for improving the accuracy of automatic models, by replacing the traditional random training with an easy-to-hard strategy. However, the standard curriculum methodology does not…

Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project…

Scale variation is one of the key challenges in object detection. In this work, we first present a controlled experiment to investigate the effect of receptive fields for scale variation in object detection. Based on the findings from the…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

This paper proposes a novel model, named Continuity-Discrimination Convolutional Neural Network (CD-CNN), for visual object tracking. Existing state-of-the-art tracking methods do not deal with temporal relationship in video sequences,…

Object recognition in the presence of background clutter and distractors is a central problem both in neuroscience and in machine learning. However, the performance level of the models that are inspired by cortical mechanisms, including…

Generally, the performance of a generic detector decreases significantly when it is tested on a specific scene due to the large variation between the source training dataset and the samples from the target scene. To solve this problem, we…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…