相关论文: Cross-Level Sensor Fusion with Object Lists via Tr…

3D object detection is a crucial research topic in computer vision, which usually uses 3D point clouds as input in conventional setups. Recently, there is a trend of leveraging multiple sources of input data, such as complementing the 3D…

Despite significant progress in 3D object detection, point clouds remain challenging due to sparse data, incomplete structures, and limited semantic information. Capturing contextual relationships between distant objects presents additional…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

Diffusion models have recently gained prominence as powerful deep generative models, demonstrating unmatched performance across various domains. However, their potential in multi-sensor fusion remains largely unexplored. In this work, we…

We present a conceptually simple, flexible and general framework for cross-dataset training in object detection. Given two or more already labeled datasets that target for different object classes, cross-dataset training aims to detect the…

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on…

Co-Salient Object Detection (CoSOD) aims at simulating the human visual system to discover the common and salient objects from a group of relevant images. Recent methods typically develop sophisticated deep learning based models have…

Unsupervised object discovery (UOD) has recently shown encouraging progress with the adoption of pre-trained Transformer features. However, current methods based on Transformers mainly focus on designing the localization head (e.g., seed…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…

By identifying four important components of existing LiDAR-camera 3D object detection methods (LiDAR and camera candidates, transformation, and fusion outputs), we observe that all existing methods either find dense candidates or yield…

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…

In this paper, we present a Transformer-based architecture for 3D radar object detection that uses a novel Transformer Decoder as the prediction head to directly regress 3D bounding boxes and class scores from radar feature representations.…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

3D object detection has achieved remarkable progress by taking point clouds as the only input. However, point clouds often suffer from incomplete geometric structures and the lack of semantic information, which makes detectors hard to…

DAVIS camera, streaming two complementary sensing modalities of asynchronous events and frames, has gradually been used to address major object detection challenges (e.g., fast motion blur and low-light). However, how to effectively…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…