相关论文: VoxelKP: A Voxel-based Network Architecture for Hu…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

We present Hybrid Voxel Network (HVNet), a novel one-stage unified network for point cloud based 3D object detection for autonomous driving. Recent studies show that 2D voxelization with per voxel PointNet style feature extractor leads to…

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…

LiDAR-based fully sparse architecture has garnered increasing attention. FSDv1 stands out as a representative work, achieving impressive efficacy and efficiency, albeit with intricate structures and handcrafted designs. In this paper, we…

LiDAR has become one of the primary 3D object detection sensors in autonomous driving. However, LiDAR's diverging point pattern with increasing distance results in a non-uniform sampled point cloud ill-suited to discretized volumetric…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due…

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,…

In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

This paper introduces the Masked Voxel Jigsaw and Reconstruction (MV-JAR) method for LiDAR-based self-supervised pre-training and a carefully designed data-efficient 3D object detection benchmark on the Waymo dataset. Inspired by the…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…

Cross-modal place recognition methods are flexible GPS-alternatives under varying environment conditions and sensor setups. However, this task is non-trivial since extracting consistent and robust global descriptors from different…

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…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…

This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requires storing past point clouds and…