相关论文: Rethinking Voxelization and Classification for 3D …

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…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

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…

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…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Object detection is a significant field in autonomous driving. Popular sensors for this task include cameras and LiDAR sensors. LiDAR sensors offer several advantages, such as insensitivity to light changes, like in a dark setting and the…

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…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

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…