相关论文: Querying Autonomous Vehicle Point Clouds: Enhanced…

Point cloud-based open-vocabulary 3D object detection aims to detect 3D categories that do not have ground-truth annotations in the training set. It is extremely challenging because of the limited data and annotations (bounding boxes with…

Few-shot point cloud 3D object detection (FS3D) aims to identify and localise objects of novel classes from point clouds, using knowledge learnt from annotated base classes and novel classes with very few annotations. Thus far, this…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any…

Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…

As a dynamic and essential component in the road environment of urban scenarios, vehicles are the most popular investigation targets. To monitor their behavior and extract their geometric characteristics, an accurate and instant measurement…

Object counting aims to estimate the number of objects in images. The leading counting approaches focus on the single category counting task and achieve impressive performance. Note that there are multiple categories of objects in real…

In this paper, we focus on exploring the robustness of the 3D object detection in point clouds, which has been rarely discussed in existing approaches. We observe two crucial phenomena: 1) the detection accuracy of the hard objects, e.g.,…

Object detection and counting are related but challenging problems, especially for drone based scenes with small objects and cluttered background. In this paper, we propose a new Guided Attention Network (GANet) to deal with both object…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…