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We introduce Multi-Source 3D (MS3D), a new self-training pipeline for unsupervised domain adaptation in 3D object detection. Despite the remarkable accuracy of 3D detectors, they often overfit to specific domain biases, leading to…
Deep neural networks have revolutionized 3D point cloud processing, yet efficiently handling large and irregular point clouds remains challenging. To tackle this problem, we introduce FastPoint, a novel software-based acceleration technique…
We propose a novel fast track finding system capable of reconstructing four dimensional particle trajectories in real time using precise space and time information of the hits. Recent developments in silicon pixel detectors achieved 150 ps…
Detection of pedestrians on embedded devices, such as those on-board of robots and drones, has many applications including road intersection monitoring, security, crowd monitoring and surveillance, to name a few. However, the problem can be…
Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…
Deep learning has significantly improved 2D image recognition. Extending into 3D may advance many new applications including autonomous vehicles, virtual and augmented reality, authoring 3D content, and even improving 2D recognition.…
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…
There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved,…
Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread vehicle compatibility and reducing sensor intrusion, cost, and energy consumption. However, visual approaches are often…
Realizing unified 3D object detection, including both indoor and outdoor scenes, holds great importance in applications like robot navigation. However, involving various scenarios of data to train models poses challenges due to their…
With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…
Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…
The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of…
3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…
This work addresses the challenge of sub-pixel accuracy in detecting 2D local features, a cornerstone problem in computer vision. Despite the advancements brought by neural network-based methods like SuperPoint and ALIKED, these modern…
Recent 3D multi-object tracking (3D MOT) methods mainly follow tracking-by-detection pipelines, but often suffer from high false positives, missed detections, and identity switches, especially in crowded and small-object scenarios. To…
Monocular 3D lane detection is a challenging task due to its lack of depth information. A popular solution is to first transform the front-viewed (FV) images or features into the bird-eye-view (BEV) space with inverse perspective mapping…
Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…
Recent approaches for monocular 3D human pose estimation (3D HPE) have achieved leading performance by directly regressing 3D poses from 2D keypoint sequences. Despite the rapid progress in 3D HPE, existing methods are typically trained and…
Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…