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Collaborative 3D object detection, with its improved interaction advantage among multiple agents, has been widely explored in autonomous driving. However, existing collaborative 3D object detectors in a fully supervised paradigm heavily…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…

This paper explores the potential of curriculum learning in LiDAR-based 3D object detection by proposing a curricular object manipulation (COM) framework. The framework embeds the curricular training strategy into both the loss design and…

Both indoor and outdoor scene perceptions are essential for embodied intelligence. However, current sparse supervised 3D object detection methods focus solely on outdoor scenes without considering indoor settings. To this end, we propose a…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

We propose and study open-vocabulary monocular 3D detection, a novel task that aims to detect objects of any categores in metric 3D space from a single RGB image. Existing 3D object detectors either rely on costly sensors such as LiDAR or…

3D object detection is an important task, especially in the autonomous driving application domain. However, it is challenging to support the real-time performance with the limited computation and memory resources on edge-computing devices…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Object detection and instance recognition play a central role in many AI applications like autonomous driving, video surveillance and medical image analysis. However, training object detection models on large scale datasets remains…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

3D object detection is one of the most important components in any Self-Driving stack, but current state-of-the-art (SOTA) lidar object detectors require costly & slow manual annotation of 3D bounding boxes to perform well. Recently,…

Object detection is one of the most important and challenging branches of computer vision, which has been widely applied in peoples life, such as monitoring security, autonomous driving and so on, with the purpose of locating instances of…

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…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…