相关论文: Multimodal Object Detection using Depth and Image …

This paper presents a new approach to accurately track a moving vehicle with a multiview setup of red-green-blue depth (RGBD) cameras. We first propose a correction method to eliminate a shift, which occurs in depth sensors when they become…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

Multi-view 3D object detection systems often struggle with generating precise predictions due to the challenges in estimating depth from images, increasing redundant and incorrect detections. Our paper presents Ray Denoising, an innovative…

Industrial anomaly detection based on RGB-3D multimodal data has emerged as a mainstream paradigm for intelligent quality inspection. However, existing unsupervised methods suffer from two critical limitations: ambiguous cross-modal…

Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inherent heterogeneity between these modalities, including…

Object detection has been extensively utilized in autonomous systems in recent years, encompassing both 2D and 3D object detection. Recent research in this field has primarily centered around multimodal approaches for addressing this…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

Traditional systems typically require different models for processing different modalities, such as one model for RGB images and another for depth images. Recent research has demonstrated that a single model for one modality can be adapted…

This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Recognizing objects from simultaneously sensed photometric (RGB) and depth channels is a fundamental yet practical problem in many machine vision applications such as robot grasping and autonomous driving. In this paper, we address this…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…

Recent years have seen impressive progress in visual recognition on many benchmarks, however, generalization to the real-world in out-of-distribution setting remains a significant challenge. A state-of-the-art method for robust visual…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…