相关论文: Resolving Class Imbalance for LiDAR-based Object D…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Object detection is an important task in computer vision which serves a lot of real-world applications such as autonomous driving, surveillance and robotics. Along with the rapid thrive of large-scale data, numerous state-of-the-art…

Object detection is a task that performs position identification and label classification of objects in images or videos. The information obtained through this process plays an essential role in various tasks in the field of computer…

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…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…

Automated driving object detection has always been a challenging task in computer vision due to environmental uncertainties. These uncertainties include significant differences in object sizes and encountering the class unseen. It may…

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…

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…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

3-D object detection is pivotal for autonomous driving. Point cloud based methods have become increasingly popular for 3-D object detection, owing to their accurate depth information. NuTonomy's nuScenes dataset greatly extends commonly…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

This paper presents a LiDAR-based object detection system with real-time voice specifications, integrating KITTI's 3D point clouds and RGB images through a multi-modal PointNet framework. It achieves 87.0% validation accuracy on a…

The increasing applications of autonomous driving systems necessitates large-scale, high-quality datasets to ensure robust performance across diverse scenarios. Synthetic data has emerged as a viable solution to augment real-world datasets…