相关论文: Efficient Transformer-based 3D Object Detection wi…

Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

We present a new method that views object detection as a direct set prediction problem. Our approach streamlines the detection pipeline, effectively removing the need for many hand-designed components like a non-maximum suppression…

Recent top-performing temporal 3D detectors based on Lidars have increasingly adopted region-based paradigms. They first generate coarse proposals, followed by encoding and fusing regional features. However, indiscriminate sampling and…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

Vision Transformers (ViTs) have shown impressive performance in computer vision, but their high computational cost, quadratic in the number of tokens, limits their adoption in computation-constrained applications. However, this large number…

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla…

Slow inference speed is one of the most crucial concerns for deploying multi-view 3D detectors to tasks with high real-time requirements like autonomous driving. Although many sparse query-based methods have already attempted to improve the…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…

Despite the promising results, existing oriented object detection methods usually involve heuristically designed rules, e.g., RRoI generation, rotated NMS. In this paper, we propose an end-to-end framework for oriented object detection,…

3D object detection is an important module in autonomous driving and robotics. However, many existing methods focus on using single frames to perform 3D detection, and do not fully utilize information from multiple frames. In this paper, we…

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Recently, LiDAR point cloud processing and analysis have made great progress due to the development of 3D Transformers. However, existing 3D Transformer methods usually are computationally expensive and inefficient due to their huge and…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

Visual geometry transformers have become powerful architectures for multi-view 3D reconstruction, enabling joint prediction of multiple 3D attributes in a feed-forward manner. However, their computational cost grows quadratically with the…

Transformers achieve unrivalled performance in modelling language, but remain inefficient in terms of memory and time complexity. A possible remedy is to reduce the sequence length in the intermediate layers by pooling fixed-length segments…

Recently Transformers have provided state-of-the-art performance in sparse matching, crucial to realize high-performance 3D vision applications. Yet, these Transformers lack efficiency due to the quadratic computational complexity of their…

The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight…