相关论文: Rethinking the Encoding and Annotating of 3D Bound…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

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…

Modern convolutional neural networks (CNNs)-based face detectors have achieved tremendous strides due to large annotated datasets. However, misaligned results with high detection confidence but low localization accuracy restrict the further…

Monocular 3D object detection task aims to predict the 3D bounding boxes of objects based on monocular RGB images. Since the location recovery in 3D space is quite difficult on account of absence of depth information, this paper proposes a…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

Current object detection frameworks mainly rely on bounding box regression to localize objects. Despite the remarkable progress in recent years, the precision of bounding box regression remains unsatisfactory, hence limiting performance in…

Unlike Object Detection, Visual Grounding task necessitates the detection of an object described by complex free-form language. To simultaneously model such complex semantic and visual representations, recent state-of-the-art studies adopt…

Edge computing-based 3D perception has received attention in intelligent transportation systems (ITS) because real-time monitoring of traffic candidates potentially strengthens Vehicle-to-Everything (V2X) orchestration. Thanks to the…

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…

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…

Training 3D object detectors for autonomous driving has been limited to small datasets due to the effort required to generate annotations. Reducing both task complexity and the amount of task switching done by annotators is key to reducing…

Currently, existing state-of-the-art 3D object detectors are in two-stage paradigm. These methods typically comprise two steps: 1) Utilize a region proposal network to propose a handful of high-quality proposals in a bottom-up fashion. 2)…

Recent query-based 3D object detection methods using camera and LiDAR inputs have shown strong performance, but existing query initialization strategies,such as random sampling or BEV heatmap-based sampling, often result in inefficient…

Bird's eye view (BEV) is widely adopted by most of the current point cloud detectors due to the applicability of well-explored 2D detection techniques. However, existing methods obtain BEV features by simply collapsing voxel or point…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

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…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…