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

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

The availability of many real-world driving datasets is a key reason behind the recent progress of object detection algorithms in autonomous driving. However, there exist ambiguity or even failures in object labels due to error-prone…

3D object detection is an indispensable component for scene understanding. However, the annotation of large-scale 3D datasets requires significant human effort. To tackle this problem, many methods adopt weakly supervised 3D object…

The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

In this study, we address a gap in existing unsupervised domain adaptation approaches on LiDAR-based 3D object detection, which have predominantly concentrated on adapting between established, high-density autonomous driving datasets. We…

Pseudo-label based self training approaches are a popular method for source-free unsupervised domain adaptation. However, their efficacy depends on the quality of the labels generated by the source trained model. These labels may be…

Large-scale well-annotated datasets are of great importance for training an effective object detector. However, obtaining accurate bounding box annotations is laborious and demanding. Unfortunately, the resultant noisy bounding boxes could…

We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While…

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…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D…

State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

In this paper, we delve into semi-supervised object detection where unlabeled images are leveraged to break through the upper bound of fully-supervised object detection models. Previous semi-supervised methods based on pseudo labels are…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Bounding box supervision has gained considerable attention in weakly supervised 3D instance segmentation. While this approach alleviates the need for extensive point-level annotations, obtaining accurate bounding boxes in practical…