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

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Although vision Transformers have achieved excellent performance as backbone models in many vision tasks, most of them intend to capture global relations of all tokens in an image or a window, which disrupts the inherent spatial and local…

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…

Window-based transformers excel in large-scale point cloud understanding by capturing context-aware representations with affordable attention computation in a more localized manner. However, the sparse nature of point clouds leads to a…

Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…

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…

In this paper, we propose a Monocular 3D Single Stage object Detector (M3DSSD) with feature alignment and asymmetric non-local attention. Current anchor-based monocular 3D object detection methods suffer from feature mismatching. To…

In recent years, Transformers have achieved remarkable progress in computer vision tasks. However, their global modeling often comes with substantial computational overhead, in stark contrast to the human eye's efficient information…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…

We present a method for detecting objects in images using a single deep neural network. Our approach, named SSD, discretizes the output space of bounding boxes into a set of default boxes over different aspect ratios and scales per feature…

Scale variance is one of the crucial challenges in multi-scale object detection. Early approaches address this problem by exploiting the image and feature pyramid, which raises suboptimal results with computation burden and constrains from…

The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…

Creating high-fidelity 3D meshes with arbitrary topology, including open surfaces and complex interiors, remains a significant challenge. Existing implicit field methods often require costly and detail-degrading watertight conversion, while…

This paper proposes a computationally efficient approach to detecting objects natively in 3D point clouds using convolutional neural networks (CNNs). In particular, this is achieved by leveraging a feature-centric voting scheme to implement…

Object detection in Remote Sensing Images (RSI) is a critical task for numerous applications in Earth Observation (EO). Differing from object detection in natural images, object detection in remote sensing images faces challenges of…

3D reconstruction in large-scale scenes is a fundamental task in 3D perception, but the inherent trade-off between accuracy and computational efficiency remains a significant challenge. Existing methods either prioritize speed and produce…

One critical challenge in 6D object pose estimation from a single RGBD image is efficient integration of two different modalities, i.e., color and depth. In this work, we tackle this problem by a novel Deep Fusion Transformer~(DFTr) block…

Transformers have been successfully applied to the visual tracking task and significantly promote tracking performance. The self-attention mechanism designed to model long-range dependencies is the key to the success of Transformers.…

Object detection has been a building block in computer vision. Though considerable progress has been made, there still exist challenges for objects with small size, arbitrary direction, and dense distribution. Apart from natural images,…

Density map estimation enables accurate object counting in heavily occluded, and densely packed scenes where detection-based counting fails. In multi-class density estimation, class awareness can be introduced by modelling classes…