相关论文: Rethinking IoU-based Optimization for Single-stage…

Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a number of assumptions about the environment to hold -- some…

3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…

Substantial efforts have been devoted more recently to presenting various methods for object detection in optical remote sensing images. However, the current survey of datasets and deep learning based methods for object detection in optical…

We present Self-Ensembling Single-Stage object Detector (SE-SSD) for accurate and efficient 3D object detection in outdoor point clouds. Our key focus is on exploiting both soft and hard targets with our formulated constraints to jointly…

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…

Multimodal 3D object detection has garnered considerable interest in autonomous driving. However, multimodal detectors suffer from dimension mismatches that derive from fusing 3D points with 2D pixels coarsely, which leads to sub-optimal…

3D object detection is critical for autonomous driving, leveraging deep learning techniques to interpret LiDAR data. The PointPillars architecture is a prominent model in this field, distinguished by its efficient use of LiDAR data. This…

Recent works on two-stage cross-domain detection have widely explored the local feature patterns to achieve more accurate adaptation results. These methods heavily rely on the region proposal mechanisms and ROI-based instance-level features…

Event cameras show great potential for visual odometry (VO) in handling challenging situations, such as fast motion and high dynamic range. Despite this promise, the sparse and motion-dependent characteristics of event data continue to…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

Robustness is a fundamental aspect for developing safe and trustworthy models, particularly when they are deployed in the open world. In this work we analyze the inherent capability of one-stage object detectors to robustly operate in the…

Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…

Bounding box (bbox) regression is a fundamental task in computer vision. So far, the most commonly used loss functions for bbox regression are the Intersection over Union (IoU) loss and its variants. In this paper, we generalize existing…

The Unified Object Detection (UOD) task aims to achieve object detection of all merged categories through training on multiple datasets, and is of great significance in comprehensive object detection scenarios. In this paper, we conduct a…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

Road object detection is an important branch of automatic driving technology, The model with higher detection accuracy is more conducive to the safe driving of vehicles. In road object detection, the omission of small objects and occluded…

Thoracic aortic dissection and aneurysms are the most lethal diseases of the aorta. The major hindrance to treatment lies in the accurate analysis of the medical images. More particularly, aortic segmentation of the 3D image is often…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

Object detection is a comprehensively studied problem in autonomous driving. However, it has been relatively less explored in the case of fisheye cameras. The standard bounding box fails in fisheye cameras due to the strong radial…