相关论文: Feature-based model selection for object detection…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

In this paper, we propose a novel and effective Multi-Level Fusion network, named as MLF-DET, for high-performance cross-modal 3D object DETection, which integrates both the feature-level fusion and decision-level fusion to fully utilize…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

In this paper, we propose SparseDet for end-to-end 3D object detection from point cloud. Existing works on 3D object detection rely on dense object candidates over all locations in a 3D or 2D grid following the mainstream methods for object…

We consider the problem of object recognition in 3D using an ensemble of attribute-based classifiers. We propose two new concepts to improve classification in practical situations, and show their implementation in an approach implemented…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

The current trend in computer vision is to utilize one universal model to address all various tasks. Achieving such a universal model inevitably requires incorporating multi-domain data for joint training to learn across multiple problem…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…