相关论文: MDHA: Multi-Scale Deformable Transformer with Hybr…

Multi-camera-based 3D object detection has made notable progress in the past several years. However, we observe that there are cases (e.g. faraway regions) in which popular 2D object detectors are more reliable than state-of-the-art 3D…

Recent advances in multi-modal detection have significantly improved detection accuracy in challenging environments (e.g., low light, overexposure). By integrating RGB with modalities such as thermal and depth, multi-modal fusion increases…

Bird-eye-view (BEV) based methods have made great progress recently in multi-view 3D detection task. Comparing with BEV based methods, sparse based methods lag behind in performance, but still have lots of non-negligible merits. To push…

Transformers excel at sequence modeling but face quadratic complexity, while linear attention offers improved efficiency but often compromises recall accuracy over long contexts. In this work, we introduce Native Hybrid Attention (NHA), a…

Multimodal remote sensing object detection aims to achieve more accurate and robust perception under challenging conditions by fusing complementary information from different modalities. However, existing approaches that rely on…

This paper presents LAPA (Look Around and Pay Attention), a novel end-to-end transformer-based architecture for multi-camera point tracking that integrates appearance-based matching with geometric constraints. Traditional pipelines decouple…

3D object detection with point clouds and images plays an important role in perception tasks such as autonomous driving. Current methods show great performance on detection and pose estimation of standard-shaped vehicles but lack behind on…

Personalized object detection aims to adapt a general-purpose detector to recognize user-specific instances from only a few examples. Lightweight models often struggle in this setting due to their weak semantic priors, while large…

End-to-end autonomous driving has witnessed remarkable progress. However, the extensive deployment of autonomous vehicles has yet to be realized, primarily due to 1) inefficient multi-modal environment perception: how to integrate data from…

Object detection has recently seen an interesting trend in terms of the most innovative research work, this task being of particular importance in the field of remote sensing, given the consistency of these images in terms of geographical…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

Transformer models rely on self-attention to capture token dependencies but face challenges in effectively integrating positional information while allowing multi-head attention (MHA) flexibility. Prior methods often model semantic and…

Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…

In this paper, we propose a new operator, called 3D DeFormable Attention (DFA3D), for 2D-to-3D feature lifting, which transforms multi-view 2D image features into a unified 3D space for 3D object detection. Existing feature lifting…

Detecting objects from LiDAR point clouds is of tremendous significance in autonomous driving. In spite of good progress, accurate and reliable 3D detection is yet to be achieved due to the sparsity and irregularity of LiDAR point clouds.…

Accurate 3D object detection in LiDAR based point clouds suffers from the challenges of data sparsity and irregularities. Existing methods strive to organize the points regularly, e.g. voxelize, pass them through a designed 2D/3D neural…

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…

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,…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Transformer-based methods have demonstrated excellent performance on super-resolution visual tasks, surpassing conventional convolutional neural networks. However, existing work typically restricts self-attention computation to…