相关论文: OVIR-3D: Open-Vocabulary 3D Instance Retrieval Wit…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

An increasingly massive number of remote-sensing images spurs the development of extensible object detectors that can detect objects beyond training categories without costly collecting new labeled data. In this paper, we aim to develop…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…

Open-vocabulary detection (OVD) aims to detect novel objects without instance-level annotations to achieve open-world object detection at a lower cost. Existing OVD methods mainly rely on the powerful open-vocabulary image-text alignment…

This paper presents DetCLIPv2, an efficient and scalable training framework that incorporates large-scale image-text pairs to achieve open-vocabulary object detection (OVD). Unlike previous OVD frameworks that typically rely on a…

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…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

Without the demand of training in reality, humans can easily detect a known concept simply based on its language description. Empowering deep learning with this ability undoubtedly enables the neural network to handle complex vision tasks,…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

This paper proposes a multi-view extension of instance segmentation without relying on texture or shape descriptor matching. Multi-view instance segmentation becomes challenging for scenes with repetitive textures and shapes, e.g., plant…

Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation…

Current point-cloud detection methods have difficulty detecting the open-vocabulary objects in the real world, due to their limited generalization capability. Moreover, it is extremely laborious and expensive to collect and fully annotate a…

We present a method for learning 3D spatial relationships between object pairs, referred to as object-object spatial relationships (OOR), by leveraging synthetically generated 3D samples from pre-trained 2D diffusion models. We hypothesize…

Heavily relying on 3D annotations limits the real-world application of 3D object detection. In this paper, we propose a method that does not demand any 3D annotation, while being able to predict fully oriented 3D bounding boxes. Our method,…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…