相关论文: 3DPillars: Pillar-based two-stage 3D object detect…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due…

Single stage deep learning algorithm for 2D object detection was made popular by Single Shot MultiBox Detector (SSD) and it was heavily adopted in several embedded applications. PointPillars is a state of the art 3D object detection…

Object detection in point clouds is an important aspect of many robotics applications such as autonomous driving. In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline.…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally…

The performance of point cloud 3D object detection hinges on effectively representing raw points, grid-based voxels or pillars. Recent two-stage 3D detectors typically take the point-voxel-based R-CNN paradigm, i.e., the first stage resorts…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

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…

The deployment of 3D detectors strikes one of the major challenges in real-world self-driving scenarios. Existing BEV-based (i.e., Bird Eye View) detectors favor sparse convolutions (known as SPConv) to speed up training and inference,…

Efficient representation of point clouds is fundamental for LiDAR-based 3D object detection. While recent grid-based detectors often encode point clouds into either voxels or pillars, the distinctions between these approaches remain…

3D object detection using point clouds has attracted increasing attention due to its wide applications in autonomous driving and robotics. However, most existing studies focus on single point cloud frames without harnessing the temporal…

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…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network…

Currently, there have been many kinds of voxel-based 3D single stage detectors, while point-based single stage methods are still underexplored. In this paper, we first present a lightweight and effective point-based 3D single stage object…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

3D object detection using point cloud (PC) data is essential for perception pipelines of autonomous driving, where efficient encoding is key to meeting stringent resource and latency requirements. PointPillars, a widely adopted bird's-eye…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…