相关论文: A Light Perspective for 3D Object Detection

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

In this paper, we present a novel approach for object recognition in real-time by employing multilevel feature analysis and demonstrate the practicality of adapting feature extraction into a Naive Bayesian classification framework that…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Object detection problem solving has developed greatly within the past few years. There is a need for lighter models in instances where hardware limitations exist, as well as a demand for models to be tailored to mobile devices. In this…

The key to ensuring the safe obstacle avoidance function of autonomous driving systems lies in the use of extremely accurate vehicle recognition techniques. However, the variability of the actual road environment and the diverse…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence…

Since the introduction of the self-attention mechanism and the adoption of the Transformer architecture for Computer Vision tasks, the Vision Transformer-based architectures gained a lot of popularity in the field, being used for tasks such…

Understanding the world in 3D is a critical component of urban autonomous driving. Generally, the combination of expensive LiDAR sensors and stereo RGB imaging has been paramount for successful 3D object detection algorithms, whereas…