相关论文: Mixed Precision PointPillars for Efficient 3D Obje…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

The exponentially large discrete search space in mixed-precision quantization (MPQ) makes it hard to determine the optimal bit-width for each layer. Previous works usually resort to iterative search methods on the training set, which…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

We present the P$^3$ dataset, a large-scale multimodal benchmark for building vectorization, constructed from aerial LiDAR point clouds, high-resolution aerial imagery, and vectorized 2D building outlines, collected across three continents.…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…

Point clouds are challenging to process due to their sparsity, therefore autonomous vehicles rely more on appearance attributes than pure geometric features. However, 3D LIDAR perception can provide crucial information for urban navigation…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…

Large Language Models (LLMs) have demonstrated remarkable capabilities in various natural language processing tasks. However, their size presents significant challenges for deployment and inference. This paper investigates the quantization…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

Network quantization allows inference to be conducted using low-precision arithmetic for improved inference efficiency of deep neural networks on edge devices. However, designing aggressively low-bit (e.g., 2-bit) quantization schemes on…

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…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

This paper presents a LiDAR-based object detection system with real-time voice specifications, integrating KITTI's 3D point clouds and RGB images through a multi-modal PointNet framework. It achieves 87.0% validation accuracy on a…

Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…

Recent advances in foundation models have opened up new possibilities for enhancing 3D perception. In particular, DepthAnything offers dense and reliable geometric priors from monocular RGB images, which can complement sparse LiDAR data in…