相关论文: Towards Cross-Platform Generalization: Domain Adap…

In order to handle the challenges of autonomous driving, deep learning has proven to be crucial in tackling increasingly complex tasks, such as 3D detection or instance segmentation. State-of-the-art approaches for image-based detection…

Data augmentation is an important technique to improve data efficiency and save labeling cost for 3D detection in point clouds. Yet, existing augmentation policies have so far been designed to only utilize labeled data, which limits the…

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and…

We address the task of domain adaptation in object detection, where there is a domain gap between a domain with annotations (source) and a domain of interest without annotations (target). As an effective semi-supervised learning method, the…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

This technical report presents the implementation details of the winning solution for the ICRA 2025 GOOSE 3D Semantic Segmentation Challenge. This challenge focuses on semantic segmentation of 3D point clouds from diverse unstructured…

To alleviate the high annotation cost in LiDAR-based 3D object detection, active learning is a promising solution that learns to select only a small portion of unlabeled data to annotate, without compromising model performance. Our…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

This paper presents the first study on Unsupervised Domain Adaptation (UDA) for multimodal 3D panoptic segmentation (mm-3DPS), aiming to improve generalization under domain shifts commonly encountered in real-world autonomous driving. A…

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…

Despite its significant success, object detection in traffic and transportation scenarios requires time-consuming and laborious efforts in acquiring high-quality labeled data. Therefore, Unsupervised Domain Adaptation (UDA) for object…

Unsupervised domain adaptation (UDA) is vital for alleviating the workload of labeling 3D point cloud data and mitigating the absence of labels when facing a newly defined domain. Various methods of utilizing images to enhance the…

This survey paper specially analyzed computer vision-based object detection challenges and solutions by different techniques. We mainly highlighted object detection by three different trending strategies, i.e., 1) domain adaptive deep…

Recent advances in semi-supervised object detection (SSOD) are largely driven by consistency-based pseudo-labeling methods for image classification tasks, producing pseudo labels as supervisory signals. However, when using pseudo labels,…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Despite great progress in object detection, most existing methods work only on a limited set of object categories, due to the tremendous human effort needed for bounding-box annotations of training data. To alleviate the problem, recent…

This work aims to address the challenges in domain adaptation of 3D object detection using infrastructure LiDARs. We design a model DASE-ProPillars that can detect vehicles in infrastructure-based LiDARs in real-time. Our model uses…