相关论文: 3DMOTFormer: Graph Transformer for Online 3D Multi…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Road network graphs provide critical information for autonomous-vehicle applications, such as drivable areas that can be used for motion planning algorithms. To find road network graphs, manually annotation is usually inefficient and…

Discrete-Time Dynamic Graphs (DTDGs), which are prevalent in real-world implementations and notable for their ease of data acquisition, have garnered considerable attention from both academic researchers and industry practitioners. The…

The fusion of camera- and LiDAR-based detections offers a promising solution to mitigate tracking failures in 3D multi-object tracking (MOT). However, existing methods predominantly exploit camera detections to correct tracking failures…

This paper improves state-of-the-art visual object trackers that use online adaptation. Our core contribution is an offline meta-learning-based method to adjust the initial deep networks used in online adaptation-based tracking. The meta…

Graph transformers typically lack third-order interactions, limiting their geometric understanding which is crucial for tasks like molecular geometry prediction. We propose the Triplet Graph Transformer (TGT) that enables direct…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion…

The recent trend in 2D multiple object tracking (MOT) is jointly solving detection and tracking, where object detection and appearance feature (or motion) are learned simultaneously. Despite competitive performance, in crowded scenes, joint…

The purpose of multi-object tracking (MOT) is to continuously track and identify objects detected in videos. Currently, most methods for multi-object tracking model the motion information and combine it with appearance information to…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

We present UniTrack, a plug-and-play graph-theoretic loss function designed to significantly enhance multi-object tracking (MOT) performance by directly optimizing tracking-specific objectives through unified differentiable learning. Unlike…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

Multi-object tracking (MOT) is a core task in computer vision that involves detecting objects in video frames and associating them across time. The rise of deep learning has significantly advanced MOT, particularly within the…

Traditional multiple object tracking methods divide the task into two parts: affinity learning and data association. The separation of the task requires to define a hand-crafted training goal in affinity learning stage and a hand-crafted…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

Multiple Object Tracking (MOT) aims to find bounding boxes and identities of targeted objects in consecutive video frames. While fully-supervised MOT methods have achieved high accuracy on existing datasets, they cannot generalize well on a…