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

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

Many LiDAR-based methods for detecting large objects, single-class object detection, or under easy situations were claimed to perform quite well. However, their performances of detecting small objects or under hard situations did not…

Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for…

In this paper, we propose a simple yet unified single object tracking (SOT) framework, dubbed SUTrack. It consolidates five SOT tasks (RGB-based, RGB-Depth, RGB-Thermal, RGB-Event, RGB-Language Tracking) into a unified model trained in a…

Existing 3D multi-object tracking (MOT) methods often sacrifice efficiency and generalizability for robustness, largely relying on complex association metrics derived from multi-modal architectures and class-specific motion priors.…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Facial biometrics are an essential components of smartphones to ensure reliable and trustworthy authentication. However, face biometric systems are vulnerable to Presentation Attacks (PAs), and the availability of more sophisticated…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

With growing real-world demands, efficient tracking has received increasing attention. However, most existing methods are limited to RGB inputs and struggle in multi-modal scenarios. Moreover, current multi-modal tracking approaches…

3D single object tracking in LiDAR point clouds (LiDAR SOT) plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…

One-stream Transformer-based trackers achieve advanced performance in visual object tracking but suffer from significant computational overhead that hinders real-time deployment. While token pruning offers a path to efficiency, existing…

Object tracking in realistic scenarios is a difficult problem affected by various image factors such as occlusion, clutter, confusion, object shape, unstable speed, and zooming. While these conditions do affect tracking performance, there…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

In 3D point cloud object tracking, the motion-centric methods have emerged as a promising avenue due to its superior performance in modeling inter-frame motion. However, existing two-stage motion-based approaches suffer from fundamental…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region…

This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well…