相关论文: OSP2B: One-Stage Point-to-Box Network for 3D Siame…

The paper proposes a light-weighted stereo frustums matching module for 3D objection detection. The proposed framework takes advantage of a high-performance 2D detector and a point cloud segmentation network to regress 3D bounding boxes for…

Siamese-network-based self-supervised learning (SSL) suffers from slow convergence and instability in training. To alleviate this, we propose a framework to exploit intermediate self-supervisions in each stage of deep nets, called the…

Point cloud prediction is an important yet challenging task in the field of autonomous driving. The goal is to predict future point cloud sequences that maintain object structures while accurately representing their temporal motion. These…

Recently spiking neural networks (SNNs), the third-generation of neural networks has shown remarkable capabilities of energy-efficient computing, which is a promising alternative for deep neural networks (DNNs) with high energy consumption.…

It is challenging for weakly supervised object detection network to precisely predict the positions of the objects, since there are no instance-level category annotations. Most existing methods tend to solve this problem by using a…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…

This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time…

Swift and accurate alignment of transmitter (Tx) and receiver (Rx) beams is a fundamental design challenge to enable reliable outdoor millimeter-wave communications. In this paper, we propose a new Optimized Two-Stage Search (OTSS)…

There are still two problems in SDD causing some inaccurate results: (1) In the process of feature extraction, with the layer-by-layer acquisition of semantic information, local information is gradually lost, resulting into less…

Single object tracking in satellite videos is inherently challenged by small target, blurred background, large aspect ratio changes, and frequent visual occlusions. These constraints often cause appearance-based trackers to accumulate…

Category-level pose estimation is a challenging problem due to intra-class shape variations. Recent methods deform pre-computed shape priors to map the observed point cloud into the normalized object coordinate space and then retrieve the…

Siamese tracking paradigm has achieved great success, providing effective appearance discrimination and size estimation by the classification and regression. While such a paradigm typically optimizes the classification and regression…

3D single object tracking plays an essential role in many applications, such as autonomous driving. It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor…

Safe autonomous driving requires reliable 3D object detection-determining the 6 DoF pose and dimensions of objects of interest. Using stereo cameras to solve this task is a cost-effective alternative to the widely used LiDAR sensor. The…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

The point cloud based 3D single object tracking has drawn increasing attention. Although many breakthroughs have been achieved, we also reveal two severe issues. By extensive analysis, we find the prediction manner of current approaches is…

Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…

3D single object tracking (SOT) is an important and challenging task for the autonomous driving and mobile robotics. Most existing methods perform tracking between two consecutive frames while ignoring the motion patterns of the target over…

We propose a single-shot approach to determining 6-DoF pose of an object with available 3D computer-aided design (CAD) model from a single RGB image. Our method, dubbed MRC-Net, comprises two stages. The first performs pose classification…