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

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…

Current methods for incremental object detection (IOD) primarily rely on Faster R-CNN or DETR series detectors; however, these approaches do not accommodate the real-time YOLO detection frameworks. In this paper, we first identify three…

Although data-driven methods have achieved success in 3D human pose estimation, they often suffer from domain gaps and exhibit limited generalization. In contrast, optimization-based methods excel in fine-tuning for specific cases but are…

Rolling shutter distortion is highly undesirable for photography and computer vision algorithms (e.g., visual SLAM) because pixels can be potentially captured at different times and poses. In this paper, we propose a deep neural network to…

This paper proposes a novel object detection framework named Grid R-CNN, which adopts a grid guided localization mechanism for accurate object detection. Different from the traditional regression based methods, the Grid R-CNN captures the…

Existing detection methods commonly use a parameterized bounding box (BBox) to model and detect (horizontal) objects and an additional rotation angle parameter is used for rotated objects. We argue that such a mechanism has fundamental…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…

3D object detection has achieved significant performance in many fields, e.g., robotics system, autonomous driving, and augmented reality. However, most existing methods could cause catastrophic forgetting of old classes when performing on…

Robust 3D object detection remains a pivotal concern in the domain of autonomous field robotics. Despite notable enhancements in detection accuracy across standard datasets, real-world urban environments, characterized by their unstructured…

Label assignment plays a significant role in modern object detection models. Detection models may yield totally different performances with different label assignment strategies. For anchor-based detection models, the IoU (Intersection over…

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding…

In recent years, deep learning-based approaches for visual-inertial odometry (VIO) have shown remarkable performance outperforming traditional geometric methods. Yet, all existing methods use both the visual and inertial measurements for…

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…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…

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…

Recently, object detection models have witnessed notable performance improvements, particularly with transformer-based models. However, new objects frequently appear in the real world, requiring detection models to continually learn without…

Object detection as part of computer vision can be crucial for traffic management, emergency response, autonomous vehicles, and smart cities. Despite significant advances in object detection, detecting small objects in images captured by…

The rapidly growing number of product categories in large-scale e-commerce makes accurate object identification for automated packing in warehouses substantially more difficult. As the catalog grows, intra-class variability and a long tail…