相关论文: Improved Multi-Scale Grid Rendering of Point Cloud…

This paper shows the effectiveness of 2D backbone scaling and pretraining for pillar-based 3D object detectors. Pillar-based methods mainly employ randomly initialized 2D convolution neural network (ConvNet) for feature extraction and fail…

Point cloud compression significantly reduces data volume but sacrifices reconstruction quality, highlighting the need for advanced quality enhancement techniques. Most existing approaches focus primarily on point-to-point fidelity, often…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

Effective BEV object detection on infrastructure can greatly improve traffic scenes understanding and vehicle-toinfrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous…

Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…

Boundary representation (B-rep) models are the standard way 3D shapes are described in Computer-Aided Design (CAD) applications. They combine lightweight parametric curves and surfaces with topological information which connects the…

Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

We introduce an end-to-end learnable technique to robustly identify feature edges in 3D point cloud data. We represent these edges as a collection of parametric curves (i.e.,lines, circles, and B-splines). Accordingly, our deep neural…

Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…

Convolution-based and Transformer-based vision backbone networks process images into the grid or sequence structures, respectively, which are inflexible for capturing irregular objects. Though Vision GNN (ViG) adopts graph-level features…

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception…

The deployment of high-accuracy 3D object detection models from point cloud remains a significant challenge due to their substantial computational and memory requirements. To address this, we introduce StripDet, a novel lightweight…

A large number of retinal vessel analysis methods based on image segmentation have emerged in recent years. However, existing methods depend on cumbersome backbones, such as VGG16 and ResNet-50, benefiting from their powerful feature…

One of the main challenges since the advancement of convolutional neural networks is how to connect the extracted feature map to the final classification layer. VGG models used two sets of fully connected layers for the classification part…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

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…