相关论文: Harnessing Uncertainty-aware Bounding Boxes for Un…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections…

This work tackles the unsupervised cross-domain object detection problem which aims to generalize a pre-trained object detector to a new target domain without labels. We propose an uncertainty-aware model adaptation method, which is based…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Recent self-training techniques have shown notable improvements in unsupervised domain adaptation for 3D object detection (3D UDA). These techniques typically select pseudo labels, i.e., 3D boxes, to supervise models for the target domain.…

We tackle the challenging problem of Open-Set Object Detection (OSOD), which aims to detect both known and unknown objects in unlabelled images. The main difficulty arises from the absence of supervision for these unknown classes, making it…

Reliable uncertainty estimation for 3D object detection is critical for deploying safe autonomous systems, yet modern detectors remain poorly calibrated, especially under distribution shifts. Although post-hoc calibration methods address…

Quantifying a model's predictive uncertainty is essential for safety-critical applications such as autonomous driving. We consider quantifying such uncertainty for multi-object detection. In particular, we leverage conformal prediction to…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Deploying 3D detectors in unfamiliar domains has been demonstrated to result in a significant 70-90% drop in detection rate due to variations in lidar, geography, or weather from their training dataset. This domain gap leads to missing…

Object detection has been applied in a wide variety of real world scenarios, so detection algorithms must provide confidence in the results to ensure that appropriate decisions can be made based on their results. Accordingly, several…

In this paper, we propose a novel form of the loss function to increase the performance of LiDAR-based 3d object detection and obtain more explainable and convincing uncertainty for the prediction. The loss function was designed using…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Autonomous driving needs to rely on high-quality 3D object detection to ensure safe navigation in the world. Uncertainty estimation is an effective tool to provide statistically accurate predictions, while the associated detection…