相关论文: Omni3D: A Large Benchmark and Model for 3D Object …

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

In this paper, we formally address universal object detection, which aims to detect every scene and predict every category. The dependence on human annotations, the limited visual information, and the novel categories in the open world…

This paper presents a new multi-view RGB-D dataset of nine kitchen scenes, each containing several objects in realistic cluttered environments including a subset of objects from the BigBird dataset. The viewpoints of the scenes are densely…

Open-world perception aims to develop a model adaptable to novel domains and various sensor configurations and can understand uncommon objects and corner cases. However, current research lacks sufficiently comprehensive open-world 3D…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…

This paper proposes to go beyond the state-of-the-art deep convolutional neural network (CNN) by incorporating the information from object detection, focusing on dealing with fine-grained image classification. Unfortunately, CNN suffers…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

High-quality 3D object recognition is an important component of many vision and robotics systems. We tackle the object recognition problem using two data representations, to achieve leading results on the Princeton ModelNet challenge. The…

We consider indoor 3D object detection with respect to a single RGB(-D) frame acquired from a commodity handheld device. We seek to significantly advance the status quo with respect to both data and modeling. First, we establish that…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…

The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature…

With the rise of deep convolutional neural networks, object detection has achieved prominent advances in past years. However, such prosperity could not camouflage the unsatisfactory situation of Small Object Detection (SOD), one of the…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…