相关论文: Cross Modal Transformer: Towards Fast and Robust 3…

In this paper, we investigate an open research task of cross-modal retrieval between 3D shapes and textual descriptions. Previous approaches mainly rely on point cloud encoders for feature extraction, which may ignore key inherent features…

Lidar based 3D object detection and classification tasks are essential for automated driving(AD). A Lidar sensor can provide the 3D point coud data reconstruction of the surrounding environment. But the detection in 3D point cloud still…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

3D Transformers have achieved great success in point cloud understanding and representation. However, there is still considerable scope for further development in effective and efficient Transformers for large-scale LiDAR point cloud scene…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Despite radar's popularity in the automotive industry, for fusion-based 3D object detection, most existing works focus on LiDAR and camera fusion. In this paper, we propose TransCAR, a Transformer-based Camera-And-Radar fusion solution for…

Point clouds and RGB images are naturally complementary modalities for 3D visual understanding - the former provides sparse but accurate locations of points on objects, while the latter contains dense color and texture information. Despite…

Transfer learning is widely used in computer vision (CV), natural language processing (NLP) and achieves great success. Most transfer learning systems are based on the same modality (e.g. RGB image in CV and text in NLP). However, the…

3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

Cross-Modal Retrieval (CMR), which retrieves relevant items from one modality (e.g., audio) given a query in another modality (e.g., visual), has undergone significant advancements in recent years. This capability is crucial for robots to…

Audio-visual deepfake detection typically employs a complementary multi-modal model to check the forgery traces in the video. These methods primarily extract forgery traces through audio-visual alignment, which results from the…

Given a query patch from a novel class, one-shot object detection aims to detect all instances of that class in a target image through the semantic similarity comparison. However, due to the extremely limited guidance in the novel class as…

Multimodal models often experience a significant performance drop when one or more modalities are missing during inference. To address this challenge, we propose a simple yet effective approach that enhances robustness to missing modalities…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…

Reasoning over multiple modalities, e.g. in Visual Question Answering (VQA), requires an alignment of semantic concepts across domains. Despite the widespread success of end-to-end learning, today's multimodal pipelines by and large…

Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…