相关论文: Virtual Sparse Convolution for Multimodal 3D Objec…

Depth completion from sparse LiDAR measurements and corresponding RGB images is a prerequisite for accurate 3D perception in robotic systems. Existing methods achieve high accuracy on standard benchmarks but rely on heavy backbone…

Accurate 3D object detection in large-scale outdoor scenes, characterized by considerable variations in object scales, necessitates features rich in both long-range and fine-grained information. While recent detectors have utilized…

This paper presents the novel idea of generating object proposals by leveraging temporal information for video object detection. The feature aggregation in modern region-based video object detectors heavily relies on learned proposals…

Vision Transformers (ViTs) enable strong multi-view 3D detection but are limited by high inference latency from dense token and query processing across multiple views and large 3D regions. Existing sparsity methods, designed mainly for 2D…

Point-cloud-based 3D perception has attracted great attention in various applications including robotics, autonomous driving and AR/VR. In particular, the 3D sparse convolution (SpConv) network has emerged as one of the most popular…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

We present Hybrid Voxel Network (HVNet), a novel one-stage unified network for point cloud based 3D object detection for autonomous driving. Recent studies show that 2D voxelization with per voxel PointNet style feature extractor leads to…

We proposed a new Convolution Neural Network implementation optimized for sparse 3D data inference. This implementation uses NanoVDB as the data structure to store the sparse tensor. It leaves a relatively small memory footprint while…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

Having precise perception of the environment is crucial for ensuring the secure and reliable functioning of autonomous driving systems. Radar object detection networks are one fundamental part of such systems. CNN-based object detectors…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature…