相关论文: ALIGN: Advanced Query Initialization with LiDAR-Im…

This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective. They first label the objects with clear shapes in a track,…

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…

Camera-based bird-eye-view (BEV) perception paradigm has made significant progress in the autonomous driving field. Under such a paradigm, accurate BEV representation construction relies on reliable depth estimation for multi-camera images.…

In recent years, supervised learning has become the dominant paradigm for training deep-learning based methods for 3D object detection. Lately, the academic community has studied 3D object detection in the context of autonomous vehicles…

Inadequate bounding box modeling in regression tasks constrains the performance of one-stage 3D object detection. Our study reveals that the primary reason lies in two aspects: (1) The limited center-offset prediction seriously impairs the…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

Deep learning models for object detection in autonomous driving have recently achieved impressive performance gains and are already being deployed in vehicles worldwide. However, current models require increasingly large datasets for…

We introduce a framework for multi-camera 3D object detection. In contrast to existing works, which estimate 3D bounding boxes directly from monocular images or use depth prediction networks to generate input for 3D object detection from 2D…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

Clustering is an unsupervised machine learning method grouping data samples into clusters of similar objects. In practice, clustering has been used in numerous applications such as banking customers profiling, document retrieval, image…

Detecting occluded objects still remains a challenge for state-of-the-art object detectors. The objective of this work is to improve the detection for such objects, and thereby improve the overall performance of a modern object detector. To…

Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on…

Traditional object detection methods face performance degradation challenges in complex scenarios such as low-light conditions and heavy occlusions due to a lack of high-level semantic understanding. To address this, this paper proposes an…

We present LInKs, a novel unsupervised learning method to recover 3D human poses from 2D kinematic skeletons obtained from a single image, even when occlusions are present. Our approach follows a unique two-step process, which involves…

In contrast to the incremental classification task, the incremental detection task is characterized by the presence of data ambiguity, as an image may have differently labeled bounding boxes across multiple continuous learning stages. This…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…