相关论文: DirectTracker: 3D Multi-Object Tracking Using Dire…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

3D single object tracking (SOT) is an important and challenging task for the autonomous driving and mobile robotics. Most existing methods perform tracking between two consecutive frames while ignoring the motion patterns of the target over…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the…

An autonomous driving system requires a 3D object detector, which must perceive all present road agents reliably to navigate an environment safely. However, real-world driving datasets often suffer from the problem of data imbalance, which…

Object tracking becomes critical especially when similar objects are present in the same area. Recent state-of-the-art (SOTA) approaches are proposed based on taking a matching network with a heavy structure to distinguish the target from…

The high temporal variation of the point clouds is the key challenge of 3D single-object tracking (3D SOT). Existing approaches rely on the assumption that the shape variation of the point clouds and the motion of the objects across…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

The tracking-by-detection paradigm today has become the dominant method for multi-object tracking and works by detecting objects in each frame and then performing data association across frames. However, its sequential frame-wise matching…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…

The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

We introduce CoTracker, a transformer-based model that tracks a large number of 2D points in long video sequences. Differently from most existing approaches that track points independently, CoTracker tracks them jointly, accounting for…

3D Single Object Tracking (3D-SOT) aims to localize a target object across a sequence of LiDAR point clouds, given its 3D bounding box in the first frame. Recent methods have adopted a memory-based approach to utilize previously observed…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

As a video task, Multiple Object Tracking (MOT) is expected to capture temporal information of targets effectively. Unfortunately, most existing methods only explicitly exploit the object features between adjacent frames, while lacking the…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…

Multi-object tracking (MOT) is an integral part of any autonomous driving pipelines because itproduces trajectories which has been taken by other moving objects in the scene and helps predicttheir future motion. Thanks to the recent…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…