相关论文: Investigating Domain Gaps for Indoor 3D Object Det…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Automatically detecting, labeling, and tracking objects in videos depends first and foremost on accurate category-level object detectors. These might, however, not always be available in practice, as acquiring high-quality large scale…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

The use of synthetic data in indoor 3D object detection offers the potential of greatly reducing the manual labor involved in 3D annotations and training effective zero-shot detectors. However, the complicated domain shifts across…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

Domain adaptation for object detection (DAOD) has recently drawn much attention owing to its capability of detecting target objects without any annotations. To tackle the problem, previous works focus on aligning features extracted from…

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Recent advances in deep learning have led to the development of accurate and efficient models for various computer vision applications such as classification, segmentation, and detection. However, learning highly accurate models relies on…

Deep learning (DL) based object detection has achieved great progress. These methods typically assume that large amount of labeled training data is available, and training and test data are drawn from an identical distribution. However, the…

3D Object Detectors (3D-OD) are crucial for understanding the environment in many robotic tasks, especially autonomous driving. Including 3D information via Lidar sensors improves accuracy greatly. However, such detectors perform poorly on…

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…

Deploying 3D detectors in unfamiliar domains has been demonstrated to result in a significant 70-90% drop in detection rate due to variations in lidar, geography, or weather from their training dataset. This domain gap leads to missing…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Combining multiple datasets enables performance boost on many computer vision tasks. But similar trend has not been witnessed in object detection when combining multiple datasets due to two inconsistencies among detection datasets: taxonomy…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

The vulnerability of 3D point cloud analysis to unpredictable rotations poses an open yet challenging problem: orientation-aware 3D domain generalization. Cross-domain robustness and adaptability of 3D representations are crucial but not…

Local features and contextual dependencies are crucial for 3D point cloud analysis. Many works have been devoted to designing better local convolutional kernels that exploit the contextual dependencies. However, current point convolutions…