相关论文: STTracker: Spatio-Temporal Tracker for 3D Single O…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Dynamic 3D reconstruction and point tracking in videos are typically treated as separate tasks, despite their deep connection. We propose St4RTrack, a feed-forward framework that simultaneously reconstructs and tracks dynamic video content…

In this paper, we present a simple yet fast and robust algorithm which exploits the spatio-temporal context for visual tracking. Our approach formulates the spatio-temporal relationships between the object of interest and its local context…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Object tracking is one of the most important problems in computer vision. The aim of video tracking is to extract the trajectories of a target or object of interest, i.e. accurately locate a moving target in a video sequence and…

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 investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…

3D Multi-Object Tracking (MOT) is an important part of the unmanned vehicle perception module. Most methods optimize object detection and data association independently. These methods make the network structure complicated and limit the…

We propose FutrTrack, a modular camera-LiDAR multi-object tracking framework that builds on existing 3D detectors by introducing a transformer-based smoother and a fusion-driven tracker. Inspired by query-based tracking frameworks,…

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames.…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

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…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

This paper presents a preliminary study of an efficient object tracking approach, comparing the performance of two different 3D point cloud sensory sources: LiDAR and stereo cameras, which have significant price differences. In this…

The tracking-by-detection paradigm today has become the dominant method for multi-object tracking and works by detecting objects in each frame and then performing data association across frames. However, its sequential frame-wise matching…

A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…