相关论文: MsSVT++: Mixed-scale Sparse Voxel Transformer with…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

For most of the object detectors based on multi-scale feature maps, the shallow layers are rich in fine spatial information and thus mainly responsible for small object detection. The performance of small object detection, however, is still…

This work presents SGCDet, a novel multi-view indoor 3D object detection framework based on adaptive 3D volume construction. Unlike previous approaches that restrict the receptive field of voxels to fixed locations on images, we introduce a…

Self-driving cars need to understand 3D scenes efficiently and accurately in order to drive safely. Given the limited hardware resources, existing 3D perception models are not able to recognize small instances (e.g., pedestrians, cyclists)…

Recently, virtual/pseudo-point-based 3D object detection that seamlessly fuses RGB images and LiDAR data by depth completion has gained great attention. However, virtual points generated from an image are very dense, introducing a huge…

Vision transformers have gained significant attention and achieved state-of-the-art performance in various computer vision tasks, including image classification, instance segmentation, and object detection. However, challenges remain in…

Weakly supervised multimodal violence detection aims to learn a violence detection model by leveraging multiple modalities such as RGB, optical flow, and audio, while only video-level annotations are available. In the pursuit of effective…

This paper proposes ShapeShifter, a new 3D generative model that learns to synthesize shape variations based on a single reference model. While generative methods for 3D objects have recently attracted much attention, current techniques…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…

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…

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…

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,…

Recent advances in point cloud object detection have increasingly adopted Transformer-based and State Space Models (SSMs) to capture long-range dependencies. However, these serialized frameworks strictly maintain the consistency of input…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

Transformers have been widely used in numerous vision problems especially for visual recognition and detection. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…

Recent volumetric 3D reconstruction methods can produce very accurate results, with plausible geometry even for unobserved surfaces. However, they face an undesirable trade-off when it comes to multi-view fusion. They can fuse all available…

We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…