相关论文: PointDistiller: Structured Knowledge Distillation …

Multi-view camera-based 3D object detection has become popular due to its low cost, but accurately inferring 3D geometry solely from camera data remains challenging and may lead to inferior performance. Although distilling precise 3D…

Existing unsupervised keypoint detection methods apply artificial deformations to images such as masking a significant portion of images and using reconstruction of original image as a learning objective to detect keypoints. However, this…

Anomaly detection, which is a critical and popular topic in computer vision, aims to detect anomalous samples that are different from the normal (i.e., non-anomalous) ones. The current mainstream methods focus on anomaly detection for…

Knowledge distillation (KD) has become a well established paradigm for compressing deep neural networks. The typical way of conducting knowledge distillation is to train the student network under the supervision of the teacher network to…

Affordance detection presents intricate challenges and has a wide range of robotic applications. Previous works have faced limitations such as the complexities of 3D object shapes, the wide range of potential affordances on real-world…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

We introduce a new deep learning method for point cloud comparison. Our approach, named Deep Point Cloud Distance (DPDist), measures the distance between the points in one cloud and the estimated surface from which the other point cloud is…

Existing Knowledge Distillation (KD) methods often align feature information between teacher and student by exploring meaningful feature processing and loss functions. However, due to the difference in feature distributions between the…

Knowledge Distillation (KD) for object detection aims to train a compact detector by transferring knowledge from a teacher model. Since the teacher model perceives data in a way different from humans, existing KD methods only distill…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

Due to the point cloud's irregular and unordered geometry structure, conventional knowledge distillation technology lost a lot of information when directly used on point cloud tasks. In this paper, we propose Feature Adversarial…

Transformer-based detectors (DETRs) are becoming popular for their simple framework, but the large model size and heavy time consumption hinder their deployment in the real world. While knowledge distillation (KD) can be an appealing…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

It remains very challenging to build a pedestrian detection system for real world applications, which demand for both accuracy and speed. This work presents a novel hierarchical knowledge distillation framework to learn a lightweight…

Online high-definition (HD) map construction is an important and challenging task in autonomous driving. Recently, there has been a growing interest in cost-effective multi-view camera-based methods without relying on other sensors like…

3D point cloud has been widely used in many mobile application scenarios, including autonomous driving and 3D sensing on mobile devices. However, existing 3D point cloud models tend to be large and cumbersome, making them hard to deploy on…

3D object detection is one of the fundamental perception tasks for autonomous vehicles. Fulfilling such a task with a 4D millimeter-wave radar is very attractive since the sensor is able to acquire 3D point clouds similar to Lidar while…

Knowledge distillation is an effective method for model compression. However, it is still a challenging topic to apply knowledge distillation to detection tasks. There are two key points resulting in poor distillation performance for…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…