相关论文: VoxelNeXt: Fully Sparse VoxelNet for 3D Object Det…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse driving scenarios. Nevertheless, the sparse and noisy nature of 4D…

We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…

Compared with still image object detection, video object detection (VOD) needs to particularly concern the high across-frame variation in object appearance, and the diverse deterioration in some frames. In principle, the detection in a…

Using neural networks to represent 3D objects has become popular. However, many previous works employ neural networks with fixed architecture and size to represent different 3D objects, which lead to excessive network parameters for simple…

Fully sparse 3D detection has attracted an increasing interest in the recent years. However, the sparsity of the features in these frameworks challenges the generation of proposals because of the limited diffusion process. In addition, the…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

In the technical report, we present a novel transformer-based framework for nuScenes lidar-based object detection task, termed Spatial Expansion Group Transformer (SEGT). To efficiently handle the irregular and sparse nature of point cloud,…

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…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

This paper aims to classify and locate objects accurately and efficiently, without using bounding box annotations. It is challenging as objects in the wild could appear at arbitrary locations and in different scales. In this paper, we…

We present a novel approach for oriented object detection, named TricubeNet, which localizes oriented objects using visual cues ($i.e.,$ heatmap) instead of oriented box offsets regression. We represent each object as a 2D Tricube kernel…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

Visual intelligence at the edge is becoming a growing necessity for low latency applications and situations where real-time decision is vital. Object detection, the first step in visual data analytics, has enjoyed significant improvements…