相关论文: Structure Aware and Class Balanced 3D Object Detec…

In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular,…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

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…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Accurate 3D object detection from point clouds has become a crucial component in autonomous driving. However, the volumetric representations and the projection methods in previous works fail to establish the relationships between the local…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

The increasing demand for autonomous machines in construction environments necessitates the development of robust object detection algorithms that can perform effectively across various weather and environmental conditions. This paper…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

3D scene understanding is an important task, and there has been a recent surge of research interest in aligning 3D representations of point clouds with text to empower embodied AI. However, due to the lack of comprehensive 3D benchmarks,…

Face recognition using 3D point clouds is gaining growing interest, while raw point clouds often contain a significant amount of noise due to imperfect sensors. In this paper, an end-to-end 3D face recognition on a noisy point cloud is…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…