相关论文: State Space Model Meets Transformer: A New Paradig…

The Detection Transformer (DETR) has revolutionized the design of CNN-based object detection systems, showcasing impressive performance. However, its potential in the domain of multi-frame 3D object detection remains largely unexplored. In…

State Space Models (SSMs) have emerged as a powerful and efficient alternative to Transformers, demonstrating linear-time complexity and exceptional sequence modeling capabilities. However, their application to vision tasks remains…

We introduce a highly performant 3D object detector for point clouds using the DETR framework. The prior attempts all end up with suboptimal results because they fail to learn accurate inductive biases from the limited scale of training…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

This paper presents LP-DETR (Layer-wise Progressive DETR), a novel approach that enhances DETR-based object detection through multi-scale relation modeling. Our method introduces learnable spatial relationships between object queries…

Object detection has recently seen an interesting trend in terms of the most innovative research work, this task being of particular importance in the field of remote sensing, given the consistency of these images in terms of geographical…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…

We propose ST-DETR, a Spatio-Temporal Transformer-based architecture for object detection from a sequence of temporal frames. We treat the temporal frames as sequences in both space and time and employ the full attention mechanisms to take…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

We present a new method that views object detection as a direct set prediction problem. Our approach streamlines the detection pipeline, effectively removing the need for many hand-designed components like a non-maximum suppression…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

Self-supervised learning (SSL) methods such as masked language modeling have shown massive performance gains by pretraining transformer models for a variety of natural language processing tasks. The follow-up research adapted similar…

We present a novel architecture for 3D object detection, M3DeTR, which combines different point cloud representations (raw, voxels, bird-eye view) with different feature scales based on multi-scale feature pyramids. M3DeTR is the first…

Multi-object tracking from LiDAR point clouds presents unique challenges due to the sparse and irregular nature of the data, compounded by the need for temporal coherence across frames. Traditional tracking systems often rely on…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…