相关论文: Learning Object-level Point Augmentor for Semi-sup…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

We propose an improved technique for weakly-supervised object localization. Conventional methods have a limitation that they focus only on most discriminative parts of the target objects. The recent study addressed this issue and resolved…

Capturing both local and global features of irregular point clouds is essential to 3D object detection (3OD). However, mainstream 3D detectors, e.g., VoteNet and its variants, either abandon considerable local features during pooling…

Point cloud classification is a popular task in 3D vision. However, previous works, usually assume that point clouds at test time are obtained with the same procedure or sensor as those at training time. Unsupervised Domain Adaptation (UDA)…

Recent advances in deep learning greatly boost the performance of object detection. State-of-the-art methods such as Faster-RCNN, FPN and R-FCN have achieved high accuracy in challenging benchmark datasets. However, these methods require…

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…

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,…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

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…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of…

Recent developments for Semi-Supervised Object Detection (SSOD) have shown the promise of leveraging unlabeled data to improve an object detector. However, thus far these methods have assumed that the unlabeled data does not contain…

Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…