相关论文: RoPETR: Improving Temporal Camera-Only 3D Detectio…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…

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.…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

While recent camera-only 3D detection methods leverage multiple timesteps, the limited history they use significantly hampers the extent to which temporal fusion can improve object perception. Observing that existing works' fusion of…

Vision Transformers (ViTs) have achieved state-of-the-art results on various computer vision tasks, including 3D object detection. However, their end-to-end implementation also makes ViTs less explainable, which can be a challenge for…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

Deep neural object detection or segmentation networks are commonly trained with pristine, uncompressed data. However, in practical applications the input images are usually deteriorated by compression that is applied to efficiently transmit…

Rotary Position Embedding (RoPE) performs remarkably on language models, especially for length extrapolation of Transformers. However, the impacts of RoPE on computer vision domains have been underexplored, even though RoPE appears capable…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…

With the improvements in the object detection networks, several variations of object detection networks have been achieved impressive performance. However, the performance evaluation of most models has focused on detection accuracy, and…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

Accurate point-wise velocity estimation in 3D is crucial for robot interaction with non-rigid dynamic agents, enabling robust performance in path planning, collision avoidance, and object manipulation in dynamic environments. To this end,…

The strong temporal consistency of surveillance video enables compelling compression performance with traditional methods, but downstream vision applications operate on decoded image frames with a high data rate. Since it is not…

We present MoVNect, a lightweight deep neural network to capture 3D human pose using a single RGB camera. To improve the overall performance of the model, we apply the teacher-student learning method based knowledge distillation to 3D human…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…

To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth,…