相关论文: Uni3D: A Unified Baseline for Multi-dataset 3D Obj…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…

In this paper we propose to exploit multiple related tasks for accurate multi-sensor 3D object detection. Towards this goal we present an end-to-end learnable architecture that reasons about 2D and 3D object detection as well as ground…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

3D object understanding and generation methods produce impressive results, yet they often overlook a pervasive source of information in real-world scenes: repeated objects. We introduce the task of lookalike object detection in indoor…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

Input aggregation is a simple technique used by state-of-the-art LiDAR 3D object detectors to improve detection. However, increasing aggregation is known to have diminishing returns and even performance degradation, due to objects…

To achieve reliable and precise scene understanding, autonomous vehicles typically incorporate multiple sensing modalities to capitalize on their complementary attributes. However, existing cross-modal 3D detectors do not fully utilize the…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Object discovery, which refers to the task of localizing objects without human annotations, has gained significant attention in 2D image analysis. However, despite this growing interest, it remains under-explored in 3D data, where…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

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…

In the realm of novelty detection, accurately identifying outliers in data without specific class information poses a significant challenge. While current methods excel in single-object scenarios, they struggle with multi-object situations…

Accurate and effective 3D object detection is critical for ensuring the driving safety of autonomous vehicles. Recently, state-of-the-art two-stage 3D object detectors have exhibited promising performance. However, these methods refine…

Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…