相关论文: MPPNet: Multi-Frame Feature Intertwining with Prox…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

The goal of object detection is to determine the class and location of objects in an image. This paper proposes a novel anchor-free, two-stage framework which first extracts a number of object proposals by finding potential corner keypoint…

The core challenge in Camouflage Object Detection (COD) lies in the indistinguishable similarity between targets and backgrounds in terms of color, texture, and shape. This causes existing methods to either lose edge details (such as…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

Exploiting fine-grained semantic features on point cloud is still challenging due to its irregular and sparse structure in a non-Euclidean space. Among existing studies, PointNet provides an efficient and promising approach to learn shape…

4D mmWave radar provides weather-robust, velocity-aware measurements and is more cost-effective than LiDAR. However, radar-only 3D detection still trails LiDAR-based systems because radar point clouds are sparse, irregular, and often…

Point cloud video perception has become an essential task for the realm of 3D vision. Current 4D representation learning techniques typically engage in iterative processing coupled with dense query operations. Although effective in…

The ability to decompose scenes in terms of abstract building blocks is crucial for general intelligence. Where those basic building blocks share meaningful properties, interactions and other regularities across scenes, such decompositions…

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…

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

Feature pyramids are widely exploited by both the state-of-the-art one-stage object detectors (e.g., DSSD, RetinaNet, RefineDet) and the two-stage object detectors (e.g., Mask R-CNN, DetNet) to alleviate the problem arising from scale…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Temporal sentence grounding aims to localize a target segment in an untrimmed video semantically according to a given sentence query. Most previous works focus on learning frame-level features of each whole frame in the entire video, and…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…