相关论文: Position-Guided Point Cloud Panoptic Segmentation …

Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…

We introduce a highly performant 3D object detector for point clouds using the DETR framework. The prior attempts all end up with suboptimal results because they fail to learn accurate inductive biases from the limited scale of training…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

Accurately perceiving and tracking instances over time is essential for the decision-making processes of autonomous agents interacting safely in dynamic environments. With this intention, we propose Mask4Former for the challenging task of…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

Transformers have shown superior performance on various computer vision tasks with their capabilities to capture long-range dependencies. Despite the success, it is challenging to directly apply Transformers on point clouds due to their…

Referring Video Object Segmentation is an emerging multi-modal task that aims to segment objects in the video given a natural language expression. In this work, we build two instance-centric models and fuse predicted results from…

3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…

Detection Transformer (DETR) has redefined object detection by casting it as a set prediction task within an end-to-end framework. Despite its elegance, DETR and its variants still rely on fixed learnable queries and suffer from severe…

The Transformer-based detectors (i.e., DETR) have demonstrated impressive performance on end-to-end object detection. However, transferring DETR to different data distributions may lead to a significant performance degradation. Existing…

Object detection has recently seen an interesting trend in terms of the most innovative research work, this task being of particular importance in the field of remote sensing, given the consistency of these images in terms of geographical…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

The astounding performance of transformers in natural language processing (NLP) has motivated researchers to explore their applications in computer vision tasks. DEtection TRansformer (DETR) introduces transformers to object detection tasks…

LiDAR-based 3D point cloud recognition has benefited various applications. Without specially considering the LiDAR point distribution, most current methods suffer from information disconnection and limited receptive field, especially for…

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…