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

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

Autonomous driving requires accurate local scene understanding information. To this end, autonomous agents deploy object detection and online BEV lane graph extraction methods as a part of their perception stack. In this work, we propose an…

Object counting, whose aim is to estimate the number of objects from a given image, is an important and challenging computation task. Significant efforts have been devoted to addressing this problem and achieved great progress, yet counting…

Point clouds are commonly used in various practical applications such as autonomous driving and the manufacturing industry. However, these point clouds often suffer from incompleteness due to limited perspectives, scanner resolution and…

We present a novel detection method using a deep convolutional neural network (CNN), named AttentionNet. We cast an object detection problem as an iterative classification problem, which is the most suitable form of a CNN. AttentionNet…

Object point cloud classification has drawn great research attention since the release of benchmarking datasets, such as the ModelNet and the ShapeNet. These benchmarks assume point clouds covering complete surfaces of object instances, for…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Segmentation of three-dimensional (3D) point clouds is an important task for autonomous systems. However, success of segmentation algorithms depends greatly on the quality of the underlying point clouds (resolution, completeness etc.). In…

In this paper, we present KeyMatchNet, a novel network for zero-shot pose estimation in 3D point clouds. Our method uses only depth information, making it more applicable for many industrial use cases, as color information is seldom…

Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection challenging. This paper introduces CurbNet, a novel…

As a fundamental task for indoor scene understanding, 3D object detection has been extensively studied, and the accuracy on indoor point cloud data has been substantially improved. However, existing researches have been conducted on limited…

3D object detection is essential for understanding 3D scenes. Contemporary techniques often require extensive annotated training data, yet obtaining point-wise annotations for point clouds is time-consuming and laborious. Recent…

3D point cloud completion is very challenging because it heavily relies on the accurate understanding of the complex 3D shapes (e.g., high-curvature, concave/convex, and hollowed-out 3D shapes) and the unknown & diverse patterns of the…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

Aerial imagery has been increasingly adopted in mission-critical tasks, such as traffic surveillance, smart cities, and disaster assistance. However, identifying objects from aerial images faces the following challenges: 1) objects of…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…