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

In existing works that learn representation for object detection, the relationship between a candidate window and the ground truth bounding box of an object is simplified by thresholding their overlap. This paper shows information loss in…

3D object detection plays a crucial role in autonomous systems, yet existing methods are limited by closed-set assumptions and struggle to recognize novel objects and their attributes in real-world scenarios. We propose OVODA, a novel…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

In this paper, we present new feature encoding methods for Detection of 3D objects in point clouds. We used a graph neural network (GNN) for Detection of 3D objects namely cars, pedestrians, and cyclists. Feature encoding is one of the…

Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…

Recently, there have been a plethora of classification and detection systems from RGB as well as 3D images. In this work, we describe a new 3D object detection system from an RGB-D or depth-only point cloud. Our system first detects objects…

This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…

The region-based Convolutional Neural Network (CNN) detectors such as Faster R-CNN or R-FCN have already shown promising results for object detection by combining the region proposal subnetwork and the classification subnetwork together.…

Although point-based networks are demonstrated to be accurate for 3D point cloud modeling, they are still falling behind their voxel-based competitors in 3D detection. We observe that the prevailing set abstraction design for down-sampling…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

With the development of computer vision, 3D object detection has become increasingly important in many real-world applications. Limited by the computing power of sensor-side hardware, the detection task is sometimes deployed on remote…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

Voxel is an important format to represent geometric data, which has been widely used for 3D deep learning in shape analysis due to its generalization ability and regular data format. However, fine-grained tasks like part segmentation…

We propose a novel video object segmentation algorithm based on pixel-level matching using Convolutional Neural Networks (CNN). Our network aims to distinguish the target area from the background on the basis of the pixel-level similarity…

How to aggregate multi-view representations of a 3D object into an informative and discriminative one remains a key challenge for multi-view 3D object retrieval. Existing methods either use view-wise pooling strategies which neglect the…