相关论文: 3D Video Object Detection with Learnable Object-Ce…

Advanced video analytic systems, including scene classification and object detection, have seen widespread success in various domains such as smart cities and autonomous transportation. With an ever-growing number of powerful client…

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible…

Dense 3D correspondence can enhance robotic manipulation by enabling the generalization of spatial, functional, and dynamic information from one object to an unseen counterpart. Compared to shape correspondence, semantic correspondence is…

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…

3D object detection is a key module for safety-critical robotics applications such as autonomous driving. For these applications, we care most about how the detections affect the ego-agent's behavior and safety (the egocentric perspective).…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

Semantic understanding of 3D objects is crucial in many applications such as object manipulation. However, it is hard to give a universal definition of point-level semantics that everyone would agree on. We observe that people have a…

Object detection serves as a significant step in improving performance of complex downstream computer vision tasks. It has been extensively studied for many years now and current state-of-the-art 2D object detection techniques proffer…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

While recent camera-only 3D detection methods leverage multiple timesteps, the limited history they use significantly hampers the extent to which temporal fusion can improve object perception. Observing that existing works' fusion of…

Detection Transformer (DETR) and Deformable DETR have been proposed to eliminate the need for many hand-designed components in object detection while demonstrating good performance as previous complex hand-crafted detectors. However, their…

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…

Cooperative perception enhances the individual perception capabilities of autonomous vehicles (AVs) by providing a comprehensive view of the environment. However, balancing perception performance and transmission costs remains a significant…

We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…

In vision-enabled autonomous systems such as robots and autonomous cars, video object detection plays a crucial role, and both its speed and accuracy are important factors to provide reliable operation. The key insight we show in this paper…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

We propose ST-DETR, a Spatio-Temporal Transformer-based architecture for object detection from a sequence of temporal frames. We treat the temporal frames as sequences in both space and time and employ the full attention mechanisms to take…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

We propose to utilize self-supervised techniques in the 2D domain for fine-grained 3D shape segmentation tasks. This is inspired by the observation that view-based surface representations are more effective at modeling high-resolution…