相关论文: Boosting 3D Object Detection via Object-Focused Im…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Although much significant progress has been made in the research field of object detection with deep learning, there still exists a challenging task for the objects with small size, which is notably pronounced in UAV-captured images.…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

The enhancement of 3D object detection is pivotal for precise environmental perception and improved task execution capabilities in autonomous driving. LiDAR point clouds, offering accurate depth information, serve as a crucial information…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

As 3D object detection on point clouds relies on the geometrical relationships between the points, non-standard object shapes can hinder a method's detection capability. However, in safety-critical settings, robustness to out-of-domain and…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

3D building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

In this paper, we present a real-time 3D detection approach considering time-spatial feature map aggregation from different time steps of deep neural model inference (named feature map flow, FMF). Proposed approach improves the quality of…

Point Pair Features is a widely used method to detect 3D objects in point clouds, however they are prone to fail in presence of sensor noise and background clutter. We introduce novel sampling and voting schemes that significantly reduces…

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Small objects detection is a challenging task in computer vision due to its limited resolution and information. In order to solve this problem, the majority of existing methods sacrifice speed for improvement in accuracy. In this paper, we…