相关论文: GraphRelate3D: Context-Dependent 3D Object Detecti…

Object detection in 3D point clouds is a crucial task in a range of computer vision applications including robotics, autonomous cars, and augmented reality. This work addresses the object detection task in 3D point clouds using a highly…

We propose GO-N3RDet, a scene-geometry optimized multi-view 3D object detector enhanced by neural radiance fields. The key to accurate 3D object detection is in effective voxel representation. However, due to occlusion and lack of 3D…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

3D scene graph prediction aims to abstract complex 3D environments into structured graphs consisting of objects and their pairwise relationships. Existing approaches typically adopt object-centric graph neural networks, where relation edge…

In this work, we propose a novel uncertainty-aware object detection framework with a structured-graph, where nodes and edges are denoted by objects and their spatial-semantic similarities, respectively. Specifically, we aim to consider…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…

While Graph Neural Network (GNN) has shown superiority in learning node representations of homogeneous graphs, leveraging GNN on heterogeneous graphs remains a challenging problem. The dominating reason is that GNN learns node…

This paper addresses the challenging problem of retrieval and matching of graph structured objects, and makes two key contributions. First, we demonstrate how Graph Neural Networks (GNN), which have emerged as an effective model for various…

Capturing long-range dependencies in feature representations is crucial for many visual recognition tasks. Despite recent successes of deep convolutional networks, it remains challenging to model non-local context relations between visual…

Interaction group detection has been previously addressed with bottom-up approaches which relied on the position and orientation information of individuals. These approaches were primarily based on pairwise affinity matrices and were…

Relation context has been proved to be useful for many challenging vision tasks. In the field of 3D object detection, previous methods have been taking the advantage of context encoding, graph embedding, or explicit relation reasoning to…

3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…

Graph Neural Networks (GNNs) is an architecture for structural data, and has been adopted in a mass of tasks and achieved fabulous results, such as link prediction, node classification, graph classification and so on. Generally, for a…

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D…

Context is important for accurate visual recognition. In this work we propose an object detection algorithm that not only considers object visual appearance, but also makes use of two kinds of context including scene contextual information…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Given large amount of real photos for training, Convolutional neural network shows excellent performance on object recognition tasks. However, the process of collecting data is so tedious and the background are also limited which makes it…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…