相关论文: Once Detected, Never Lost: Surpassing Human Perfor…

Autonomous driving requires accurate local scene understanding information. To this end, autonomous agents deploy object detection and online BEV lane graph extraction methods as a part of their perception stack. In this work, we propose an…

Online multi-object tracking is a fundamental problem in time-critical video analysis applications. A major challenge in the popular tracking-by-detection framework is how to associate unreliable detection results with existing tracks. In…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous…

The ambiguous appearance, tiny scale, and fine-grained classes of objects in remote sensing imagery inevitably lead to the noisy annotations in category labels of detection dataset. However, the effects and treatments of the label noises…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Recent approaches for high accuracy detection and tracking of object categories in video consist of complex multistage solutions that become more cumbersome each year. In this paper we propose a ConvNet architecture that jointly performs…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…

On-board 3D object detection in autonomous vehicles often relies on geometry information captured by LiDAR devices. Albeit image features are typically preferred for detection, numerous approaches take only spatial data as input. Exploiting…

Learning an object detector or retrieval requires a large data set with manual annotations. Such data sets are expensive and time consuming to create and therefore difficult to obtain on a large scale. In this work, we propose to exploit…

Tracking and reconstructing 3D objects from cluttered scenes are the key components for computer vision, robotics and autonomous driving systems. While recent progress in implicit function has shown encouraging results on high-quality 3D…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…

Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…

In this paper, we focus on obtaining 2D and 3D labels, as well as track IDs for objects on the road with the help of a novel 3D Bounding Box Annotation Toolbox (3D BAT). Our open source, web-based 3D BAT incorporates several smart features…

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Autonomous systems rely on accurate 3D object detection from LiDAR data, yet most detectors are limited to a predefined set of known classes, making them vulnerable to unexpected out-of-distribution (OOD) objects. In this work, we present…