相关论文: Curricular Object Manipulation in LiDAR-based Obje…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

Learning robotic manipulation skills from vision is a promising approach for developing robotics applications that can generalize broadly to real-world scenarios. As such, many approaches to enable this vision have been explored with…

Popular representation learning methods encourage feature invariance under transformations applied at the input. However, in 3D perception tasks like object localization and segmentation, outputs are naturally equivariant to some…

Data and model are the undoubtable two supporting pillars for LiDAR object detection. However, data-centric works have fallen far behind compared with the ever-growing list of fancy new models. In this work, we systematically study the…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

3D object detection is an important task, especially in the autonomous driving application domain. However, it is challenging to support the real-time performance with the limited computation and memory resources on edge-computing devices…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Object identification is one of the most fundamental and difficult issues in computer vision. It aims to discover object instances in real pictures from a huge number of established categories. In recent years, deep learning-based object…

Multi-camera 3D object detection aims to detect and localize objects in 3D space using multiple cameras, which has attracted more attention due to its cost-effectiveness trade-off. However, these methods often struggle with the lack of…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, our FMCW LiDAR can…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…