相关论文: PV-RCNN++: Semantical Point-Voxel Feature Interact…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Comprehending the environment and accurately detecting objects in 3D space are essential for advancing autonomous vehicle technologies. Integrating Camera and LIDAR data has emerged as an effective approach for achieving high accuracy in 3D…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Unlike 2D object detection where all RoI features come from grid pixels, the RoI feature extraction of 3D point cloud object detection is more diverse. In this paper, we first compare and analyze the differences in structure and performance…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

The value of remote sensing images is of vital importance in many areas and needs to be refined by some cognitive approaches. The remote sensing detection is an appropriate way to achieve the semantic cognition. However, such detection is a…

The attributes of object contours has great significance for instance segmentation task. However, most of the current popular deep neural networks do not pay much attention to the object edge information. Inspired by the human annotation…

In this paper, we design a multimodal framework for object detection, recognition and mapping based on the fusion of stereo camera frames, point cloud Velodyne Lidar scans, and Vehicle-to-Vehicle (V2V) Basic Safety Messages (BSMs) exchanged…

Recent cutting-edge feature aggregation paradigms for video object detection rely on inferring feature correspondence. The feature correspondence estimation problem is fundamentally difficult due to poor image quality, motion blur, etc, and…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

Self-driving cars need to understand 3D scenes efficiently and accurately in order to drive safely. Given the limited hardware resources, existing 3D perception models are not able to recognize small instances (e.g., pedestrians, cyclists)…

The ability to accurately detect and classify objects at varying pixel sizes in cluttered scenes is crucial to many Navy applications. However, detection performance of existing state-of the-art approaches such as convolutional neural…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

As a fundamental problem in computer vision, 3D object detection is experiencing rapid growth. To extract the point-wise features from the irregularly and sparsely distributed points, previous methods usually take a feature grouping module…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…