相关论文: A Novel Neural Network Training Method for Autonom…

Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human…

Building robust and generic object detection frameworks requires scaling to larger label spaces and bigger training datasets. However, it is prohibitively costly to acquire annotations for thousands of categories at a large scale. We…

Recent self-training techniques have shown notable improvements in unsupervised domain adaptation for 3D object detection (3D UDA). These techniques typically select pseudo labels, i.e., 3D boxes, to supervise models for the target domain.…

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Recent methods, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated remarkable capabilities in novel view synthesis. However, despite their success in producing high-quality images for viewpoints…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…

This technical report represents the award-winning solution to the Cross-platform 3D Object Detection task in the RoboSense2025 Challenge. Our approach is built upon PVRCNN++, an efficient 3D object detection framework that effectively…

Automatic pseudo-labeling is a powerful tool to tap into large amounts of sequential unlabeled data. It is specially appealing in safety-critical applications of autonomous driving, where performance requirements are extreme, datasets are…

Finding correspondences between semantically similar points across images and object instances is one of the everlasting challenges in computer vision. While large pre-trained vision models have recently been demonstrated as effective…

Even though many existing 3D object detection algorithms rely mostly on camera and LiDAR, camera and LiDAR are prone to be affected by harsh weather and lighting conditions. On the other hand, radar is resistant to such conditions. However,…

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance…

While multi-class 3D detectors are needed in many robotics applications, training them with fully labeled datasets can be expensive in labeling cost. An alternative approach is to have targeted single-class labels on disjoint data samples.…

We propose a novel approach to synthesizing images that are effective for training object detectors. Starting from a small set of real images, our algorithm estimates the rendering parameters required to synthesize similar images given a…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

We study the problem of learning to estimate the 3D object pose from a few labelled examples and a collection of unlabelled data. Our main contribution is a learning framework, neural view synthesis and matching, that can transfer the 3D…

Given a 3D object, kinematic motion prediction aims to identify the mobile parts as well as the corresponding motion parameters. Due to the large variations in both topological structure and geometric details of 3D objects, this remains a…

Object detection is a fundamental visual recognition problem in computer vision and has been widely studied in the past decades. Visual object detection aims to find objects of certain target classes with precise localization in a given…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…