相关论文: Towards Stable 3D Object Detection

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

Robustness and safety are crucial properties for the real-world application of autonomous vehicles. One of the most critical components of any autonomous system is localisation. During the last 20 years there has been significant progress…

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the…

LiDAR relocalization aims to estimate the global 6-DoF pose of a sensor in the environment. However, existing regression-based approaches are prone to dynamic or ambiguous scenarios, as they either solely rely on single-frame inference or…

Current object detection frameworks mainly rely on bounding box regression to localize objects. Despite the remarkable progress in recent years, the precision of bounding box regression remains unsatisfactory, hence limiting performance in…

With recent advances in computer vision, it appears that autonomous driving will be part of modern society sooner rather than later. However, there are still a significant number of concerns to address. Although modern computer vision…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

LiDAR-based 3D object detection is a fundamental task in the field of autonomous driving. This paper explores the unique advantage of Frequency Modulated Continuous Wave (FMCW) LiDAR in autonomous perception. Given a single frame FMCW point…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

Object permanence is the concept that objects do not suddenly disappear in the physical world. Humans understand this concept at young ages and know that another person is still there, even though it is temporarily occluded. Neural networks…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…

This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective. They first label the objects with clear shapes in a track,…

In this paper, we focus on semi-supervised object detection to boost performance of proposal-based object detectors (a.k.a. two-stage object detectors) by training on both labeled and unlabeled data. However, it is non-trivial to train…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

3D Multi-Object Tracking (MOT) has achieved tremendous achievement thanks to the rapid development of 3D object detection and 2D MOT. Recent advanced works generally employ a series of object attributes, e.g., position, size, velocity, and…

Accurate and reliable 3D object detection is vital to safe autonomous driving. Despite recent developments, the performance gap between stereo-based methods and LiDAR-based methods is still considerable. Accurate depth estimation is crucial…

Existing single-stage detectors for locating objects in point clouds often treat object localization and category classification as separate tasks, so the localization accuracy and classification confidence may not well align. To address…