相关论文: 3D Object Detection with a Self-supervised Lidar S…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Due to the difficulty of obtaining ground-truth data for 4D radar scene flow estimation, previous methods typically rely on either self-supervised losses or cross-modal supervision using 3D LiDAR data, 2D images, and odometry. However,…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

The labels of monocular 3D object detection (M3OD) are expensive to obtain. Meanwhile, there usually exists numerous unlabeled data in practical applications, and pre-training is an efficient way of exploiting the knowledge in unlabeled…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

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…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…