相关论文: VADet: Multi-frame LiDAR 3D Object Detection using…

With the rise of robotics, LiDAR-based 3D object detection has garnered significant attention in both academia and industry. However, existing datasets and methods predominantly focus on vehicle-mounted platforms, leaving other autonomous…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

This work presents SGCDet, a novel multi-view indoor 3D object detection framework based on adaptive 3D volume construction. Unlike previous approaches that restrict the receptive field of voxels to fixed locations on images, we introduce a…

Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely…

Transformers have been widely used in numerous vision problems especially for visual recognition and detection. Detection transformers are the first fully end-to-end learning systems for object detection, while vision transformers are the…

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…

Growing customer demand for smart solutions in robotics and augmented reality has attracted considerable attention to 3D object detection from point clouds. Yet, existing indoor datasets taken individually are too small and insufficiently…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

Single frame data contains finite information which limits the performance of the existing vision-based multi-camera 3D object detection paradigms. For fundamentally pushing the performance boundary in this area, a novel paradigm dubbed…

In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future detections. In this paper, we propose a detection enhancement…

Video object detection is a fundamental yet challenging task in computer vision. One practical solution is to take advantage of temporal information from the video and apply feature aggregation to enhance the object features in each frame.…

Incremental 3D object perception is a critical step toward embodied intelligence in dynamic indoor environments. However, existing incremental 3D detection methods rely on extensive annotations of novel classes for satisfactory performance.…

In this paper, we propose an anchor-free single-stage LiDAR-based 3D object detector -- RangeDet. The most notable difference with previous works is that our method is purely based on the range view representation. Compared with the…

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many…

Currently, existing state-of-the-art 3D object detectors are in two-stage paradigm. These methods typically comprise two steps: 1) Utilize a region proposal network to propose a handful of high-quality proposals in a bottom-up fashion. 2)…

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To…

Vehicle object detection benefits from both LiDAR and camera data, with LiDAR offering superior performance in many scenarios. Fusion of these modalities further enhances accuracy, but existing methods often introduce complexity or…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We present AVOD, an Aggregate View Object Detection network for autonomous driving scenarios. The proposed neural network architecture uses LIDAR point clouds and RGB images to generate features that are shared by two subnetworks: a region…