相关论文: Contextual Range-View Projection for 3D LiDAR Poin…

In most modern object detection pipelines, the detection proposals are processed independently given the feature map. Therefore, they overlook the underlying relationships between objects and the surrounding background, which could have…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

The rise of large-scale models has catalyzed in-context learning as a powerful approach for multitasking, particularly in natural language and image processing. However, its application to 3D point cloud tasks has been largely unexplored.…

We introduce the task of dense captioning in 3D scans from commodity RGB-D sensors. As input, we assume a point cloud of a 3D scene; the expected output is the bounding boxes along with the descriptions for the underlying objects. To…

Despite its compactness and information integrity, the range view representation of LiDAR data rarely occurs as the first choice for 3D perception tasks. In this work, we further push the envelop of the range-view representation with a…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

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…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

Robots need both visual and contact sensing to effectively estimate the state of their environment. Camera RGBD data provides rich information of the objects surrounding the robot, and shape priors can help correct noise and fill in gaps…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

3D object detection at long range is crucial for ensuring the safety and efficiency of self driving vehicles, allowing them to accurately perceive and react to objects, obstacles, and potential hazards from a distance. But most current…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…