相关论文: Transformers for Object Detection in Large Point C…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

This paper presents CALM-Net, a curvature-aware LiDAR point cloud-based multi-branch neural network for vehicle re-identification. The proposed model addresses the challenge of learning discriminative and complementary features from…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

Multi-object tracking from LiDAR point clouds presents unique challenges due to the sparse and irregular nature of the data, compounded by the need for temporal coherence across frames. Traditional tracking systems often rely on…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

This work addresses the task of weakly-supervised object localization. The goal is to learn object localization using only image-level class labels, which are much easier to obtain compared to bounding box annotations. This task is…

In recent years, point cloud analysis methods based on the Transformer architecture have made significant progress, particularly in the context of multimedia applications such as 3D modeling, virtual reality, and autonomous systems.…

Object detection with Transformers (DETR) has achieved a competitive performance over traditional detectors, such as Faster R-CNN. However, the potential of DETR remains largely unexplored for the more challenging task of arbitrary-oriented…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

To apply transformer-based models to point cloud understanding, many previous works modify the architecture of transformers by using, e.g., local attention and down-sampling. Although they have achieved promising results, earlier works on…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Despite the recent development of deep learning-based point cloud upsampling, most MLP-based point cloud upsampling methods have limitations in that it is difficult to train the local and global structure of the point cloud at the same…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…