相关论文: DetZero: Rethinking Offboard 3D Object Detection w…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

In this work, we present a novel scheduling framework enabling anytime perception for deep neural network (DNN) based 3D object detection pipelines. We focus on computationally expensive region proposal network (RPN) and per-category…

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

In this paper, we propose an efficient feature pruning strategy for 3D small object detection. Conventional 3D object detection methods struggle on small objects due to the weak geometric information from a small number of points. Although…

Existing point cloud based 3D detectors are designed for the particular scene, either indoor or outdoor ones. Because of the substantial differences in object distribution and point density within point clouds collected from various…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…

Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Autonomous vehicles generate massive volumes of point cloud data, yet only a subset is relevant for specific tasks such as collision detection, traffic analysis, or congestion monitoring. Effectively querying this data is essential to…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

We explore long-term temporal visual correspondence-based optimization for 3D video object detection in this work. Visual correspondence refers to one-to-one mappings for pixels across multiple images. Correspondence-based optimization is…

As the perception range of LiDAR increases, LiDAR-based 3D object detection becomes a dominant task in the long-range perception task of autonomous driving. The mainstream 3D object detectors usually build dense feature maps in the network…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

Recent CNN based object detectors, no matter one-stage methods like YOLO, SSD, and RetinaNe or two-stage detectors like Faster R-CNN, R-FCN and FPN are usually trying to directly finetune from ImageNet pre-trained models designed for image…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…