相关论文: Towards Robust 3D Object Recognition with Dense-to…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

Typically, object detection methods for autonomous driving that rely on supervised learning make the assumption of a consistent feature distribution between the training and testing data, this such assumption may fail in different weather…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

We consider the problem of object recognition in 3D using an ensemble of attribute-based classifiers. We propose two new concepts to improve classification in practical situations, and show their implementation in an approach implemented…

Object detection is essential in space applications targeting Space Domain Awareness and also applications involving relative navigation scenarios. Current deep learning models for Object Detection in space applications are often trained on…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…

Most object detection methods for autonomous driving usually assume a consistent feature distribution between training and testing data, which is not always the case when weathers differ significantly. The object detection model trained…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

The point cloud representation of an object can have a large geometric variation in view of inconsistent data acquisition procedure, which thus leads to domain discrepancy due to diverse and uncontrollable shape representation cross…