相关论文: Exploiting More Information in Sparse Point Cloud …

In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud. Motivated by the success of transformers, we propose Point Tracking…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

3D Single Object Tracking (SOT) stands a forefront task of computer vision, proving essential for applications like autonomous driving. Sparse and occluded data in scene point clouds introduce variations in the appearance of tracked…

Current 3D single object tracking approaches track the target based on a feature comparison between the target template and the search area. However, due to the common occlusion in LiDAR scans, it is non-trivial to conduct accurate feature…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

Robots and autonomous vehicles should be aware of what happens in their surroundings. The segmentation and tracking of moving objects are essential for reliable path planning, including collision avoidance. We investigate this estimation…

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…

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…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

Current state-of-the-art (SOTA) 3D object detection methods often require a large amount of 3D bounding box annotations for training. However, collecting such large-scale densely-supervised datasets is notoriously costly. To reduce the…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…

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…