相关论文: SemLT3D: Semantic-Guided Expert Distillation for C…

Deep neural networks have achieved impressive performance across a wide range of tasks, but this success often comes with substantial computational and storage costs due to large-scale training data. Dataset distillation addresses this…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

Real-world data usually suffers from severe class imbalance and long-tailed distributions, where minority classes are significantly underrepresented compared to the majority ones. Recent research prefers to utilize multi-expert…

Semantic scene understanding is crucial for robust and safe autonomous navigation, particularly so in off-road environments. Recent deep learning advances for 3D semantic segmentation rely heavily on large sets of training data, however…

Dataset distillation aims to synthesize a small, information-rich dataset from a large one for efficient model training. However, existing dataset distillation methods struggle with long-tailed datasets, which are prevalent in real-world…

Long-tailed imbalance distribution is a common issue in practical computer vision applications. Previous works proposed methods to address this problem, which can be categorized into several classes: re-sampling, re-weighting, transfer…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

Pre-trained on extensive and diverse multi-modal datasets, 2D foundation models excel at addressing 2D tasks with little or no downstream supervision, owing to their robust representations. The emergence of 2D-to-3D distillation frameworks…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…

In fine-grained road scene understanding, semantic segmentation plays a crucial role in enabling vehicles to perceive and comprehend their surroundings. By assigning a specific class label to each pixel in an image, it allows for precise…

LiDAR point cloud segmentation is one of the most fundamental tasks for autonomous driving scene understanding. However, it is difficult for existing models to achieve both high inference speed and accuracy simultaneously. For example,…

Recently, multi-expert methods have led to significant improvements in long-tail recognition (LTR). We summarize two aspects that need further enhancement to contribute to LTR boosting: (1) More diverse experts; (2) Lower model variance.…

Main challenges in long-tailed recognition come from the imbalanced data distribution and sample scarcity in its tail classes. While techniques have been proposed to achieve a more balanced training loss and to improve tail classes data…

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…

Existing multi-object tracking algorithms typically fail to adequately address the issues in low-quality videos, resulting in a significant decline in tracking performance when image quality deteriorates in real-world scenarios. This…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Deep learning has attained remarkable success in many 3D visual recognition tasks, including shape classification, object detection, and semantic segmentation. However, many of these results rely on manually collecting densely annotated…

Line segments are ubiquitous in our human-made world and are increasingly used in vision tasks. They are complementary to feature points thanks to their spatial extent and the structural information they provide. Traditional line detectors…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

This paper focuses on long-tailed object detection in the semi-supervised learning setting, which poses realistic challenges, but has rarely been studied in the literature. We propose a novel pseudo-labeling-based detector called…