相关论文: LET-3D-AP: Longitudinal Error Tolerant 3D Average …

High-accuracy and low-latency 3D object detection is essential for autonomous driving systems. While previous studies on 3D object detection often evaluate performance based on mean average precision (mAP) and latency, they typically fail…

Camera-only 3D detection provides an economical solution with a simple configuration for localizing objects in 3D space compared to LiDAR-based detection systems. However, a major challenge lies in precise depth estimation due to the lack…

Average precision (AP) is a widely used metric to evaluate detection accuracy of image and video object detectors. In this paper, we analyze object detection from videos and point out that AP alone is not sufficient to capture the temporal…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Object detection is a fundamental vision task. It has been highly researched in academia and has been widely adopted in industry. Average Precision (AP) is the standard score for evaluating object detectors. Our understanding of the…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors, particularly on large-scale lidar data. Surprisingly, although semantic class labels naturally follow a long-tailed distribution,…

Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…

Average precision (AP), the area under the recall-precision (RP) curve, is the standard performance measure for object detection. Despite its wide acceptance, it has a number of shortcomings, the most important of which are (i) the…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Robotic-assistive therapy has demonstrated very encouraging results for children with Autism. Accurate estimation of the child's pose is essential both for human-robot interaction and for therapy assessment purposes. Non-intrusive methods…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

HD (High Definition) map based on 3D lidar plays a vital role in autonomous vehicle localization, planning, decision-making, perception, etc. Many 3D lidar mapping technologies related to SLAM (Simultaneous Localization and Mapping) are…

By design, average precision (AP) for object detection aims to treat all classes independently: AP is computed independently per category and averaged. On one hand, this is desirable as it treats all classes equally. On the other hand, it…

Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

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…

For active optical imaging, the use of single-photon detectors can greatly improve the detection sensitivity of the system. However, the traditional maximum-likelihood based imaging method needs a long acquisition time to capture clear…

Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…

Loss functions play an important role in training deep-network-based object detectors. The most widely used evaluation metric for object detection is Average Precision (AP), which captures the performance of localization and classification…