相关论文: LiDAR Distillation: Bridging the Beam-Induced Doma…

Though feature-alignment based Domain Adaptive Object Detection (DAOD) methods have achieved remarkable progress, they ignore the source bias issue, i.e., the detector tends to acquire more source-specific knowledge, impeding its…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embodiment gap between human hands and robot arms remains a…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets.…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Efficient object detection methods have recently received great attention in remote sensing. Although deep convolutional networks often have excellent detection accuracy, their deployment on resource-limited edge devices is difficult.…

Camera-based 3D object detection and tracking are essential for perception in autonomous driving. Current state-of-the-art approaches often rely exclusively on either perspective-view (PV) or bird's-eye-view (BEV) features, limiting their…

State-of-the-art CNN based recognition models are often computationally prohibitive to deploy on low-end devices. A promising high level approach tackling this limitation is knowledge distillation, which let small student model mimic…

Deep learning models have demonstrated remarkable success in object detection, yet their complexity and computational intensity pose a barrier to deploying them in real-world applications (e.g., self-driving perception). Knowledge…

Large Foundation Models like Dust3r can produce high quality outputs such as pointmaps, camera intrinsics, and depth estimation, given stereo-image pairs as input. However, the application of these outputs on tasks like Visual Localization…

Recent years have witnessed the remarkable success of deep learning in remote sensing image interpretation, driven by the availability of large-scale benchmark datasets. However, this reliance on massive training data also brings two major…

Real-time monocular 3D object detection remains challenging due to severe depth ambiguity, viewpoint shifts, and the high computational cost of 3D reasoning. Existing approaches either rely on LiDAR or geometric priors to compensate for…

Monocular 3D object detection is a promising yet ill-posed task for autonomous vehicles due to the lack of accurate depth information. Cross-modality knowledge distillation could effectively transfer depth information from LiDAR to…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…