相关论文: SUIT: Learning Significance-guided Information for…

With the prevalence of multimodal learning, camera-LiDAR fusion has gained popularity in 3D object detection. Although multiple fusion approaches have been proposed, they can be classified into either sparse-only or dense-only fashion based…

The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

By identifying four important components of existing LiDAR-camera 3D object detection methods (LiDAR and camera candidates, transformation, and fusion outputs), we observe that all existing methods either find dense candidates or yield…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

This work leverages the continuous sweeping motion of LiDAR scanning to concentrate object detection efforts on specific regions that receive a change in point data from one frame to another. We achieve this by using a sliding time window…

In autonomous driving, 3D LiDAR plays a crucial role in understanding the vehicle's surroundings. However, the newly emerged, unannotated objects presents few-shot learning problem for semantic segmentation. This paper addresses the…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

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…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Self-driving cars must detect vehicles, pedestrians, and other traffic participants accurately to operate safely. Small, far-away, or highly occluded objects are particularly challenging because there is limited information in the LiDAR…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Learned pointcloud representations do not generalize well with an increase in distance to the sensor. For example, at a range greater than 60 meters, the sparsity of lidar pointclouds reaches to a point where even humans cannot discern…