相关论文: VoxelTrack: Exploring Voxel Representation for 3D …

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most…

We present a novel graph-neural-network-based system to effectively represent large-scale 3D point clouds with the applications to autonomous driving. Many previous works studied the representations of 3D point clouds based on two…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

3D Single Object Tracking (SOT) is a fundamental task in computer vision and plays a critical role in applications like autonomous driving. However, existing algorithms often involve complex designs and multiple loss functions, making model…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames.…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Recent Transformer-based 3D object detectors learn point cloud features either from point- or voxel-based representations. However, the former requires time-consuming sampling while the latter introduces quantization errors. In this paper,…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

Scene flow estimation aims to generate the 3D motion field of points between two consecutive frames of point clouds, which has wide applications in various fields. Existing point-based methods ignore the irregularity of point clouds and…

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for…

3D single object tracking is essential in autonomous driving and robotics. Existing methods often struggle with sparse and incomplete point cloud scenarios. To address these limitations, we propose a Multimodal-guided Virtual Cues…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

3D object recognition accuracy can be improved by learning the multi-scale spatial features from 3D spatial geometric representations of objects such as point clouds, 3D models, surfaces, and RGB-D data. Current deep learning approaches…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…