相关论文: PVT-SSD: Single-Stage 3D Object Detector with Poin…

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…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

This paper presents 6D-ViT, a transformer-based instance representation learning network, which is suitable for highly accurate category-level object pose estimation on RGB-D images. Specifically, a novel two-stream encoder-decoder…

Transformers have become a common foundation across deep learning, yet 3D scene understanding still relies on specialized backbones with strong domain priors. This keeps the field isolated from the broader Transformer ecosystem, limiting…

Image-only and pseudo-LiDAR representations are commonly used for monocular 3D object detection. However, methods based on them have shortcomings of either not well capturing the spatial relationships in neighbored image pixels or being…

Single Shot MultiBox Detector (SSD) is one of the fastest algorithms in the current object detection field, which uses fully convolutional neural network to detect all scaled objects in an image. Deconvolutional Single Shot Detector (DSSD)…

Point cloud video perception has become an essential task for the realm of 3D vision. Current 4D representation learning techniques typically engage in iterative processing coupled with dense query operations. Although effective in…

Transformers have been widely used in numerous vision problems especially for visual recognition and detection. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the…

We present VGGT, a feed-forward neural network that directly infers all key 3D attributes of a scene, including camera parameters, point maps, depth maps, and 3D point tracks, from one, a few, or hundreds of its views. This approach is a…

We present Self-Ensembling Single-Stage object Detector (SE-SSD) for accurate and efficient 3D object detection in outdoor point clouds. Our key focus is on exploiting both soft and hard targets with our formulated constraints to jointly…

This paper presents Volumetric Transformer Pose estimator (VTP), the first 3D volumetric transformer framework for multi-view multi-person 3D human pose estimation. VTP aggregates features from 2D keypoints in all camera views and directly…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Current 3D object detection methods for indoor scenes mainly follow the voting-and-grouping strategy to generate proposals. However, most methods utilize instance-agnostic groupings, such as ball query, leading to inconsistent semantic…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…

We propose a Point-Voxel DeConvolution (PVDeConv) module for 3D data autoencoder. To demonstrate its efficiency we learn to synthesize high-resolution point clouds of 10k points that densely describe the underlying geometry of Computer…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Single shot detectors that are potentially faster and simpler than two-stage detectors tend to be more applicable to object detection in videos. Nevertheless, the extension of such object detectors from image to video is not trivial…