相关论文: Towards Streaming LiDAR Object Detection with Poin…

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse…

In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…

Recent top-performing temporal 3D detectors based on Lidars have increasingly adopted region-based paradigms. They first generate coarse proposals, followed by encoding and fusing regional features. However, indiscriminate sampling and…

We present a one-stage Fully Convolutional Line Parsing network (F-Clip) that detects line segments from images. The proposed network is very simple and flexible with variations that gracefully trade off between speed and accuracy for…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

3D object detection is crucial for autonomous driving, leveraging both LiDAR point clouds for precise depth information and camera images for rich semantic information. Therefore, the multi-modal methods that combine both modalities offer…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Cooperative perception via communication among intelligent traffic agents has great potential to improve the safety of autonomous driving. However, limited communication bandwidth, localization errors and asynchronized capturing time of…

Accurate 3D object perception and multi-target multi-camera (MTMC) tracking are fundamental for the digital transformation of industrial infrastructure. However, transitioning "inside-out" autonomous driving models to "outside-in" static…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

Linear modeling methods like Mamba have been merged as the effective backbone for the 3D object detection task. However, previous Mamba-based methods utilize the bidirectional encoding for the whole non-empty voxel sequence, which contains…

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…

Although recent Siamese network-based trackers have achieved impressive perceptual accuracy for single object tracking in LiDAR point clouds, they usually utilized heavy correlation operations to capture category-level characteristics only,…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…