相关论文: FSD V2: Improving Fully Sparse 3D Object Detection…

Part-based 3D generation holds great potential for various applications. Previous part generators that represent parts using implicit vector-set tokens often suffer from insufficient geometric details. Another line of work adopts an…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Deriving from the gradient vector of a generative model of local features, Fisher vector coding (FVC) has been identified as an effective coding method for image classification. Most, if not all, % FVC implementations employ the Gaussian…

In object recognition, Fisher vector (FV) representation is one of the state-of-art image representations ways at the expense of dense, high dimensional features and increased computation time. A simplification of FV is attractive, so we…

Accurate 3D object detection from point clouds has become a crucial component in autonomous driving. However, the volumetric representations and the projection methods in previous works fail to establish the relationships between the local…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many…

Although cluttered indoor scenes have a lot of useful high-level semantic information which can be used for mapping and localization, most Visual Odometry (VO) algorithms rely on the usage of geometric features such as points, lines and…

We propose SFMNet, a novel 3D sparse detector that combines the efficiency of sparse convolutions with the ability to model long-range dependencies. While traditional sparse convolution techniques efficiently capture local structures, they…

Due to the costliness of labelled data in real-world applications, semi-supervised object detectors, underpinned by pseudo labelling, are appealing. However, handling confusing samples is nontrivial: discarding valuable confusing samples…

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…

Sparse algorithms offer great flexibility for multi-view temporal perception tasks. In this paper, we present an enhanced version of Sparse4D, in which we improve the temporal fusion module by implementing a recursive form of multi-frame…

Incrementally recovering 3D dense structures from monocular videos is of paramount importance since it enables various robotics and AR applications. Feature volumes have recently been shown to enable efficient and accurate incremental dense…

In recent years, sparse voxel-based methods have become the state-of-the-arts for 3D semantic segmentation of indoor scenes, thanks to the powerful 3D CNNs. Nevertheless, being oblivious to the underlying geometry, voxel-based methods…