相关论文: You Only Label Once: 3D Box Adaptation from Point …

In this paper, we focus on obtaining 2D and 3D labels, as well as track IDs for objects on the road with the help of a novel 3D Bounding Box Annotation Toolbox (3D BAT). Our open source, web-based 3D BAT incorporates several smart features…

An emerging problem in computer vision is the reconstruction of 3D shape and pose of an object from a single image. Hitherto, the problem has been addressed through the application of canonical deep learning methods to regress from the…

Domain adaptation is an important task to enable learning when labels are scarce. While most works focus only on the image modality, there are many important multi-modal datasets. In order to leverage multi-modality for domain adaptation,…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

In the field of autonomous driving, self-training is widely applied to mitigate distribution shifts in LiDAR-based 3D object detectors. This eliminates the need for expensive, high-quality labels whenever the environment changes (e.g.,…

After learning a new object category from image-level annotations (with no object bounding boxes), humans are remarkably good at precisely localizing those objects. However, building good object localizers (i.e., detectors) currently…

With the rise of robotics, LiDAR-based 3D object detection has garnered significant attention in both academia and industry. However, existing datasets and methods predominantly focus on vehicle-mounted platforms, leaving other autonomous…

Learning from bounding-boxes annotations has shown great potential in weakly-supervised 3D point cloud instance segmentation. However, we observed that existing methods would suffer severe performance degradation with perturbed bounding box…

Training deep object detectors requires significant amount of human-annotated images with accurate object labels and bounding box coordinates, which are extremely expensive to acquire. Noisy annotations are much more easily accessible, but…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

In order to handle the challenges of autonomous driving, deep learning has proven to be crucial in tackling increasingly complex tasks, such as 3D detection or instance segmentation. State-of-the-art approaches for image-based detection…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…