相关论文: Uni3DETR: Unified 3D Detection Transformer

LiDAR-based 3D detection has made great progress in recent years. However, the performance of 3D detectors is considerably limited when deployed in unseen environments, owing to the severe domain gap problem. Existing domain adaptive 3D…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Capturing both local and global features of irregular point clouds is essential to 3D object detection (3OD). However, mainstream 3D detectors, e.g., VoteNet and its variants, either abandon considerable local features during pooling…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Object detection with Transformers (DETR) has achieved a competitive performance over traditional detectors, such as Faster R-CNN. However, the potential of DETR remains largely unexplored for the more challenging task of arbitrary-oriented…

High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Scaling up representations for images or text has been extensively investigated in the past few years and has led to revolutions in learning vision and language. However, scalable representation for 3D objects and scenes is relatively…

3D object detection has seen quick progress thanks to advances in deep learning on point clouds. A few recent works have even shown state-of-the-art performance with just point clouds input (e.g. VoteNet). However, point cloud data have…

In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fixed frames of input data for a single detector, such as…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

Recent advances in deep neural networks have achieved significant progress in detecting individual objects from an image. However, object detection is not sufficient to fully understand a visual scene. Towards a deeper visual understanding,…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Detecting tiny objects plays a vital role in remote sensing intelligent interpretation, as these objects often carry critical information for downstream applications. However, due to the extremely limited pixel information and significant…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

Drone detection is pivotal in numerous security and counter-UAV applications. However, existing deep learning-based methods typically struggle to balance robust feature representation with computational efficiency. This challenge is…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…