相关论文: VPIT: Real-time Embedded Single Object 3D Tracking…

While the voxel-based methods have achieved promising results for multi-person 3D pose estimation from multi-cameras, they suffer from heavy computation burdens, especially for large scenes. We present Faster VoxelPose to address the…

Vision Transformers naturally accommodate sparsity, yet standard tokenization methods confine features to discrete patch grids. This constraint prevents models from fully exploiting sparse regimes, forcing awkward compromises. We propose…

3D multi-object tracking (MOT) is an essential component for many applications such as autonomous driving and assistive robotics. Recent work on 3D MOT focuses on developing accurate systems giving less attention to practical considerations…

Recent advances on 3D object detection heavily rely on how the 3D data are represented, \emph{i.e.}, voxel-based or point-based representation. Many existing high performance 3D detectors are point-based because this structure can better…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…

Learning effective multi-modal 3D representations of objects is essential for numerous applications, such as augmented reality and robotics. Existing methods often rely on task-specific embeddings that are tailored either for semantic…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D…

An unsupervised online object tracking method that exploits both foreground and background correlations is proposed and named UHP-SOT (Unsupervised High-Performance Single Object Tracker) in this work. UHP-SOT consists of three modules: 1)…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

As a part of the perception results of intelligent driving systems, static object detection (SOD) in 3D space provides crucial cues for driving environment understanding. With the rapid deployment of deep neural networks for SOD tasks, the…

Optimization-based 3D object tracking is known to be precise and fast, but sensitive to large inter-frame displacements. In this paper we propose a fast and effective non-local 3D tracking method. Based on the observation that erroneous…

We propose a 3D multi-object tracking (MOT) solution using only 2D detections from monocular cameras, which automatically initiates/terminates tracks as well as resolves track appearance-reappearance and occlusions. Moreover, this approach…

LiDAR has become one of the primary 3D object detection sensors in autonomous driving. However, LiDAR's diverging point pattern with increasing distance results in a non-uniform sampled point cloud ill-suited to discretized volumetric…

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Understanding and modeling the 3D scene from a single image is a practical problem. A recent advance proposes a panoptic 3D scene reconstruction task that performs both 3D reconstruction and 3D panoptic segmentation from a single image.…

Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…

Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…

The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…