相关论文: An Effective Motion-Centric Paradigm for 3D Single…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

3D Multi-Object Tracking (MOT), a fundamental component of environmental perception, is essential for intelligent systems like autonomous driving and robotic sensing. Although Tracking-by-Detection frameworks have demonstrated excellent…

This paper addresses limitations in 3D tracking-by-detection methods, particularly in identifying legitimate trajectories and reducing state estimation drift in Kalman filters. Existing methods often use threshold-based filtering for…

Multi-Object Tracking (MOT) plays a crucial role in autonomous driving systems, as it lays the foundations for advanced perception and precise path planning modules. Nonetheless, single agent based MOT lacks in sensing surroundings due to…

Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

LiDAR-based Moving Object Segmentation (MOS) aims to locate and segment moving objects in point clouds of the current scan using motion information from previous scans. Despite the promising results achieved by previous MOS methods, several…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

In perception, multiple sensory information is integrated to map visual information from 2D views onto 3D objects, which is beneficial for understanding in 3D environments. But in terms of a single 2D view rendered from different angles,…

3D single object tracking has been a crucial problem for decades with numerous applications such as autonomous driving. Despite its wide-ranging use, this task remains challenging due to the significant appearance variation caused by…

Current LiDAR point cloud-based 3D single object tracking (SOT) methods typically rely on point-based representation network. Despite demonstrated success, such networks suffer from some fundamental problems: 1) It contains pooling…

Significant progress has been achieved in multi-object tracking (MOT) through the evolution of detection and re-identification (ReID) techniques. Despite these advancements, accurately tracking objects in scenarios with homogeneous…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

We propose a novel semi-supervised active learning (SSAL) framework for monocular 3D object detection with LiDAR guidance (MonoLiG), which leverages all modalities of collected data during model development. We utilize LiDAR to guide the…

Autonomous driving can benefit from motion behavior comprehension when interacting with diverse traffic participants in highly dynamic environments. Recently, there has been a growing interest in estimating class-agnostic motion directly…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…