相关论文: Towards Long-Tailed 3D Detection

The fine-tuning paradigm has emerged as a prominent approach for addressing long-tail learning tasks in the era of foundation models. However, the impact of fine-tuning strategies on long-tail learning performance remains unexplored. In…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

The long-tail distribution of the visual world poses great challenges for deep learning based classification models on how to handle the class imbalance problem. Existing solutions usually involve class-balancing strategies, e.g., by loss…

To address the problem of long-tail distribution for the large vocabulary object detection task, existing methods usually divide the whole categories into several groups and treat each group with different strategies. These methods bring…

Recently, both long-tailed recognition and object tracking have made great advances individually. TAO benchmark presented a mixture of the two, long-tailed object tracking, in order to further reflect the aspect of the real-world. To date,…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…

Multi-label classification has received considerable interest in recent years. Multi-label classifiers have to address many problems including: handling large-scale datasets with many instances and a large set of labels, compensating…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

The world is long-tailed. What does this mean for computer vision and visual recognition? The main two implications are (1) the number of categories we need to consider in applications can be very large, and (2) the number of training…

Vanilla models for object detection and instance segmentation suffer from the heavy bias toward detecting frequent objects in the long-tailed setting. Existing methods address this issue mostly during training, e.g., by re-sampling or…

Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…

Deep neural networks may perform poorly when training datasets are heavily class-imbalanced. Recently, two-stage methods decouple representation learning and classifier learning to improve performance. But there is still the vital issue of…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Deep learning has achieved remarkable progress for visual recognition on large-scale balanced datasets but still performs poorly on real-world long-tailed data. Previous methods often adopt class re-balanced training strategies to…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Imbalanced classification datasets pose significant challenges in machine learning, often leading to biased models that perform poorly on underrepresented classes. With the rise of foundation models, recent research has focused on the full,…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…