相关论文: LMD: Light-weight Prediction Quality Estimation fo…

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

This paper presents a LiDAR-based object detection system with real-time voice specifications, integrating KITTI's 3D point clouds and RGB images through a multi-modal PointNet framework. It achieves 87.0% validation accuracy on a…

Object detection in autonomous driving applications implies that the detection and tracking of semantic objects are commonly native to urban driving environments, as pedestrians and vehicles. One of the major challenges in state-of-the-art…

We tackle the challenging problem of Open-Set Object Detection (OSOD), which aims to detect both known and unknown objects in unlabelled images. The main difficulty arises from the absence of supervision for these unknown classes, making it…

Outdoor LiDAR point clouds are typically large-scale and complexly distributed. To achieve efficient and accurate registration, emphasizing the similarity among local regions and prioritizing global local-to-local matching is of utmost…

Rare-object detection remains a challenging task in autonomous driving systems, particularly when relying solely on point cloud data. Although Vision-Language Models (VLMs) exhibit strong capabilities in image understanding, their potential…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

Albeit achieving high predictive accuracy across many challenging computer vision problems, recent studies suggest that deep neural networks (DNNs) tend to make overconfident predictions, rendering them poorly calibrated. Most of the…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

As of today, the best accuracy in line segment detection (LSD) is achieved by algorithms based on convolutional neural networks - CNNs. Unfortunately, these methods utilize deep, heavy networks and are slower than traditional model-based…

Center-aligned regression remains dominant in LiDAR-based 3D object detection, yet it suffers from fundamental instability: object centers often fall in sparse or empty regions of the bird's-eye-view (BEV) due to the front-surface-biased…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…

Instance object detection plays an important role in intelligent monitoring, visual navigation, human-computer interaction, intelligent services and other fields. Inspired by the great success of Deep Convolutional Neural Network (DCNN),…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…

Edge computing-based 3D perception has received attention in intelligent transportation systems (ITS) because real-time monitoring of traffic candidates potentially strengthens Vehicle-to-Everything (V2X) orchestration. Thanks to the…

Semi-Supervised Object Detection (SSOD), aiming to explore unlabeled data for boosting object detectors, has become an active task in recent years. However, existing SSOD approaches mainly focus on horizontal objects, leaving multi-oriented…