相关论文: SparseVoxFormer: Sparse Voxel-based Transformer fo…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the…

The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…

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…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated…

Self-driving cars need to understand 3D scenes efficiently and accurately in order to drive safely. Given the limited hardware resources, existing 3D perception models are not able to recognize small instances (e.g., pedestrians, cyclists)…

The integration of point and voxel representations is becoming more common in LiDAR-based 3D object detection. However, this combination often struggles with capturing semantic information effectively. Moreover, relying solely on point…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

High-fidelity 3D object synthesis remains significantly more challenging than 2D image generation due to the unstructured nature of mesh data and the cubic complexity of dense volumetric grids. Existing two-stage pipelines-compressing…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

3D object detection using point cloud (PC) data is essential for perception pipelines of autonomous driving, where efficient encoding is key to meeting stringent resource and latency requirements. PointPillars, a widely adopted bird's-eye…

Voxel-based methods have achieved state-of-the-art performance for 3D object detection in autonomous driving. However, their significant computational and memory costs pose a challenge for their application to resource-constrained vehicles.…

We present ShapeFormer, a transformer-based network that produces a distribution of object completions, conditioned on incomplete, and possibly noisy, point clouds. The resultant distribution can then be sampled to generate likely…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

This paper presents ViewFormer, a simple yet effective model for multi-view 3d shape recognition and retrieval. We systematically investigate the existing methods for aggregating multi-view information and propose a novel ``view set"…

Creating high-fidelity 3D meshes with arbitrary topology, including open surfaces and complex interiors, remains a significant challenge. Existing implicit field methods often require costly and detail-degrading watertight conversion, while…

The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due…