相关论文: SD4R: Sparse-to-Dense Learning for 3D Object Detec…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…

Denoising Diffusion Probabilistic Models (DDPMs) have shown success in robust 3D object detection tasks. Existing methods often rely on the score matching from 3D boxes or pre-trained diffusion priors. However, they typically require…

Gaussian Splatting (GS) has gained attention as a fast and effective method for novel view synthesis. It has also been applied to 3D reconstruction using multi-view images and can achieve fast and accurate 3D reconstruction. However, GS…

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…

Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…

In autonomous driving perception systems, 3D detection and tracking are the two fundamental tasks. This paper delves deeper into this field, building upon the Sparse4D framework. We introduce two auxiliary training tasks (Temporal Instance…

This paper addresses the problem of 3D face recognition using simultaneous sparse approximations on the sphere. The 3D face point clouds are first aligned with a novel and fully automated registration process. They are then represented as…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

Point clouds obtained with 3D scanners or by image-based reconstruction techniques are often corrupted with significant amount of noise and outliers. Traditional methods for point cloud denoising largely rely on local surface fitting (e.g.,…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

Recent advances in 2D/3D generative models enable the generation of dynamic 3D objects from a single-view video. Existing approaches utilize score distillation sampling to form the dynamic scene as dynamic NeRF or dense 3D Gaussians.…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Face recognition using 3D point clouds is gaining growing interest, while raw point clouds often contain a significant amount of noise due to imperfect sensors. In this paper, an end-to-end 3D face recognition on a noisy point cloud is…

Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…