相关论文: *: Improving the 3D detector by introducing Voxel2…

2D convolution (Conv2d), which is responsible for extracting features from the input image, is one of the key modules of a convolutional neural network (CNN). However, Conv2d is vulnerable to image corruptions and adversarial samples. It is…

One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…

We present Deformable PV-RCNN, a high-performing point-cloud based 3D object detector. Currently, the proposal refinement methods used by the state-of-the-art two-stage detectors cannot adequately accommodate differing object scales,…

This paper presents MinkUNeXt, an effective and efficient architecture for place-recognition from point clouds entirely based on the new 3D MinkNeXt Block, a residual block composed of 3D sparse convolutions that follows the philosophy…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

Recently, promising applications in robotics and augmented reality have attracted considerable attention to 3D object detection from point clouds. In this paper, we present FCAF3D - a first-in-class fully convolutional anchor-free indoor 3D…

Existing multi-view three-dimensional (3D) object detection approaches widely adopt large-scale pre-trained vision transformer (ViT)-based foundation models as backbones, being computationally complex. To address this problem, current…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

Deep neural networks require specific layers to process point clouds, as the scattered and irregular location of 3D points prevents the use of conventional convolutional filters. We introduce the composite layer, a flexible and general…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object detectors often build dense feature maps, where the cost is…

Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…

This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…