相关论文: GO-N3RDet: Geometry Optimized NeRF-enhanced 3D Obj…

In the current demand for automation in the agro-food industry, accurately detecting and localizing relevant objects in 3D is essential for successful robotic operations. However, this is a challenge due the presence of occlusions.…

This study introduces PEFT-DML, a parameter-efficient deep metric learning framework for robust multi-modal 3D object detection in autonomous driving. Unlike conventional models that assume fixed sensor availability, PEFT-DML maps diverse…

Monocular 3D object detection is valuable for various applications such as robotics and AR/VR. Existing methods are confined to closed-set settings, where the training and testing sets consist of the same scenes and/or object categories.…

We introduce NeRF-GS, a novel framework that jointly optimizes Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). This framework leverages the inherent continuous spatial representation of NeRF to mitigate several limitations…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

Neural Radiance Fields (NeRF) have been widely adopted for reconstructing high quality 3D point clouds from 2D RGB images. However, the segmentation of these reconstructed 3D scenes is more essential for downstream tasks such as object…

The conventional mesh-based Level of Detail (LoD) technique, exemplified by applications such as Google Earth and many game engines, exhibits the capability to holistically represent a large scene even the Earth, and achieves rendering with…

In indoor scenes, the diverse distribution of object locations and scales makes the visual 3D perception task a big challenge. Previous works (e.g, NeRF-Det) have demonstrated that implicit representation has the capacity to benefit the…

The emerging trend in computer vision emphasizes developing universal models capable of simultaneously addressing multiple diverse tasks. Such universality typically requires joint training across multi-domain datasets to ensure effective…

Neural Radiance Fields (NeRF) have been adapted for indoor 3D Object Detection (3DOD), offering a promising approach to indoor 3DOD via view-synthesis representation. But its implicit nature limits representational capacity. Recently, 3D…

3D semantic occupancy prediction aims to reconstruct the 3D geometry and semantics of the surrounding environment. With dense voxel labels, prior works typically formulate it as a dense segmentation task, independently classifying each…

Neural Radiance Fields (NeRFs) have demonstrated remarkable effectiveness in novel view synthesis within 3D environments. However, extracting a radiance field of one specific object from multi-view images encounters substantial challenges…

As the development of deep neural networks, 3D object recognition is becoming increasingly popular in computer vision community. Many multi-view based methods are proposed to improve the category recognition accuracy. These approaches…

We present a neural rendering framework that maps a voxelized scene into a high quality image. Highly-textured objects and scene element interactions are realistically rendered by our method, despite having a rough representation as an…

Current multi-view 3D object detection methods often fail to detect objects in the overlap region properly, and the networks' understanding of the scene is often limited to that of a monocular detection network. Moreover, objects in the…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

3D object detection algorithms for autonomous driving reason about 3D obstacles either from 3D birds-eye view or perspective view or both. Recent works attempt to improve the detection performance via mining and fusing from multiple…

3D reconstruction from images has wide applications in Virtual Reality and Automatic Driving, where the precision requirement is very high. Ground-breaking research in the neural radiance field (NeRF) by utilizing Multi-Layer Perceptions…

Open-vocabulary 3D Object Detection (OV-3DDet) addresses the detection of objects from an arbitrary list of novel categories in 3D scenes, which remains a very challenging problem. In this work, we propose CoDAv2, a unified framework…

3D object detection is an essential task in autonomous driving and robotics. Though great progress has been made, challenges remain in estimating 3D pose for distant and occluded objects. In this paper, we present a novel framework named…