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PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud [article]

Shaoshuai Shi, Xiaogang Wang, Hongsheng Li
2019 arXiv   pre-print
In this paper, we propose PointRCNN for 3D object detection from raw point cloud.  ...  Instead of generating proposals from RGB image or projecting point cloud to bird's view or voxels as previous methods do, our stage-1 sub-network directly generates a small number of high-quality 3D proposals  ...  PointRCNN for Point Cloud 3D Detection In this section, we present our proposed two-stage detection framework, PointRCNN, for detecting 3D objects from irregular point cloud.  ... 
arXiv:1812.04244v2 fatcat:qadjesz2l5d6hjti6ehzzakcma

PointRCNN: 3D Object Proposal Generation and Detection From Point Cloud

Shaoshuai Shi, Xiaogang Wang, Hongsheng Li
2019 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
In this paper, we propose PointRCNN for 3D object detection from raw point cloud.  ...  Instead of generating proposals from RGB image or projecting point cloud to bird's view or voxels as previous methods do, our stage-1 sub-network directly generates a small number of high-quality 3D proposals  ...  PointRCNN for Point Cloud 3D Detection In this section, we present our proposed two-stage detection framework, PointRCNN, for detecting 3D objects from irregular point cloud.  ... 
doi:10.1109/cvpr.2019.00086 dblp:conf/cvpr/ShiWL19 fatcat:zvpklt5f5bekdlaikvj6p2cbky

A Density-Aware PointRCNN for 3D Object Detection in Point Clouds [article]

Jie Li, Yu Hu
2021 arXiv   pre-print
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 distribution differences of different point clouds.  ...  Conclusion We have presented DA-PointRCNN, an improved version of PointRCNN for 3D object detection from point clouds.  ... 
arXiv:2009.05307v2 fatcat:tysspeuk3nfdtiq5didlc6wx7q

TSF: Two-Stage Sequential Fusion for 3D Object Detection

Heng Qi, Peicheng Shi, Zhiqiang Liu, Aixi Yang
2022 IEEE Sensors Journal  
However, it is surprisingly difficult to effectively design fusion location and fusion strategies for point cloud-based 3D object detection networks.  ...  In the first stage of fusion, TSF generates the enhanced point cloud by combining the raw point cloud and semantic information of image instance segmentation.  ...  We input the enhanced point cloud from the first fusion stage into PointRCNN [3] and fused the region proposals from PointRCNN with 2D detection boxes in C-D NMS.  ... 
doi:10.1109/jsen.2022.3175192 fatcat:fdjdftrsxjhy3jdmu7b2kv45xe

Robust 3D Object Detection in Cold Weather Conditions [article]

Aldi Piroli, Vinzenz Dallabetta, Marc Walessa, Daniel Meissner, Johannes Kopp, Klaus Dietmayer
2022 arXiv   pre-print
We address this issue in two steps: First, we present a gas exhaust data generation method based on 3D surface reconstruction and sampling which allows us to generate large sets of gas exhaust clouds from  ...  Finally, we formulate a new training loss term that leverages the augmented point cloud to increase object detection robustness by penalizing predictions that include noise.  ...  Twostage detectors generate proposals for objects in the point cloud and in a second stage refine them, resulting in slower but more accurate detections.  ... 
arXiv:2205.11925v1 fatcat:tf7ccp6pxzgf7b4djhnkw7wuxy

A LiDAR–Camera Fusion 3D Object Detection Algorithm

Leyuan Liu, Jian He, Keyan Ren, Zhonghua Xiao, Yibin Hou
2022 Information  
Secondly, an attention-based fusion sub-network is designed to fuse the features extracted by the 2D backbone and the features extracted from 3D LiDAR point clouds by PointNet++.  ...  This work proposes a deep neural network (namely FuDNN) for LiDAR–camera fusion 3D object detection. Firstly, a 2D backbone is designed to extract features from camera images.  ...  For instance, MV3D [24] generated 3D object proposals from BEVs, which were projected to BEVs, FVs, and image views.  ... 
doi:10.3390/info13040169 fatcat:v5i43ryt7jewvo2oriof3jf6iy

Improving Point Cloud Semantic Segmentation by Learning 3D Object Detection

Ozan Unal, Luc Van Gool, Dengxin Dai
2021 2021 IEEE Winter Conference on Applications of Computer Vision (WACV)  
We propose a novel Detection Aware 3D Semantic Segmentation (DASS) framework that explicitly leverages localization features from an auxiliary 3D object detection task.  ...  Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning  ...  We further investigate the yet unexplored problem of multitask learning of 3D semantic segmentation and 3D object detection from point clouds.  ... 
doi:10.1109/wacv48630.2021.00299 fatcat:hoiw4jog75em5ie3usfo2hpsg4

DPointNet: A Density-Oriented PointNet for 3D Object Detection in Point Clouds [article]

Jie Li, Yu Hu
2021 arXiv   pre-print
In this paper, we put forward a novel density-oriented PointNet (DPointNet) for 3D object detection in point clouds, in which the density of points increases layer by layer.  ...  In experiments for object detection, the DPointNet is applied to PointRCNN, and the results show that the model with the new operator can achieve better performance and higher speed than the baseline PointRCNN  ...  The point clouds from LiDAR are adopted in many 3D detection methods, and the range information is much more accurate and stable than that of camera images.  ... 
arXiv:2102.03747v1 fatcat:qlvhl343czfarfrfyx4wqfjupa

Improving Point Cloud Semantic Segmentation by Learning 3D Object Detection [article]

Ozan Unal, Luc Van Gool, Dengxin Dai
2020 arXiv   pre-print
We propose a novel Detection Aware 3D Semantic Segmentation (DASS) framework that explicitly leverages localization features from an auxiliary 3D object detection task.  ...  Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning  ...  We further investigate the yet unexplored problem of multitask learning of 3D semantic segmentation and 3D object detection from point clouds.  ... 
arXiv:2009.10569v3 fatcat:q4ukkdnzkzcvpbn6l5luryw3vi

Semi-supervised 3D Object Detection via Adaptive Pseudo-Labeling [article]

Hongyi Xu, Fengqi Liu, Qianyu Zhou, Jinkun Hao, Zhijie Cao, Zhengyang Feng, Lizhuang Ma
2021 arXiv   pre-print
Inspired by this, we propose a novel semi-supervised framework based on pseudo-labeling for outdoor 3D object detection tasks.  ...  Especially for outdoor scenes, the problem becomes more severe due to the sparseness of the point cloud and the complexity of urban scenes.  ...  PROPOSED METHOD Preliminaries Our method directly uses the original point cloud as input. We divide our detection goal into classify objects in the 3D scene and locate their 3D bounding boxes.  ... 
arXiv:2108.06649v1 fatcat:vvp2etajsff6xd5x33yoogtamm

Sparse LiDAR and Stereo Fusion (SLS-Fusion) for Depth Estimationand 3D Object Detection [article]

Nguyen Anh Minh Mai, Pierre Duthon, Louahdi Khoudour, Alain Crouzil, Sergio A. Velastin
2021 arXiv   pre-print
From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to objects.  ...  This paper presents SLS-Fusion, a new approach to fuse data from 4-beam LiDAR and a stereo camera via a neural network for depth estimation to achieve better dense depth maps and thereby improves 3D object  ...  Detecting and localizing objects in 3D from 2D is challenging.  ... 
arXiv:2103.03977v3 fatcat:5iahola2yjf7lmteq4s3jieteq

3D Object Detection from Point Cloud Based on Deep Learning

Ning Hao, Kalidoss Rajakani
2022 Wireless Communications and Mobile Computing  
In order to study the modern 3D object detection algorithm based on deep learning, this paper studies the point-based 3D object detection algorithm, that is, a 3D object detection algorithm that uses multilayer  ...  This paper proposes a method based on point RCNN. A three-stage 3D object detection algorithm improves the accuracy of the algorithm by fusing image information.  ...  PointRCNN [18] proposes a new way of generating 3D proposal candidate frames from point clouds.  ... 
doi:10.1155/2022/6228797 fatcat:7lfq5ytfynhovgzxdt5dr6h3sa

PointPainting: Sequential Fusion for 3D Object Detection

Sourabh Vora, Alex H. Lang, Bassam Helou, Oscar Beijbom
2020 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
The appended (painted) point cloud can then be fed to any lidaronly method.  ...  The painted version of PointRCNN represents a new state of the art on the KITTI leaderboard for the bird's-eye view detection task.  ...  Acknowledgements We thank Donghyeon Won, Varun Bankiti and Venice Liong for help with the semantic segmentation model for nuScenes, and Holger Caesar for access to nuImages.  ... 
doi:10.1109/cvpr42600.2020.00466 dblp:conf/cvpr/VoraLHB20 fatcat:rwfqdmwgendaxlbf4rgrkeyc64

PointPainting: Sequential Fusion for 3D Object Detection [article]

Sourabh Vora, Alex H. Lang, Bassam Helou, Oscar Beijbom
2020 arXiv   pre-print
The appended (painted) point cloud can then be fed to any lidar-only method.  ...  The painted version of PointRCNN represents a new state of the art on the KITTI leaderboard for the bird's-eye view detection task.  ...  Acknowledgements We thank Donghyeon Won, Varun Bankiti and Venice Liong for help with the semantic segmentation model for nuScenes, and Holger Caesar for access to nuImages.  ... 
arXiv:1911.10150v2 fatcat:vr7v6my26bbpbkjl7egkhqekty

Investigating the Impact of Multi-LiDAR Placement on Object Detection for Autonomous Driving [article]

Hanjiang Hu, Zuxin Liu, Sharad Chitlangia, Akhil Agnihotri, Ding Zhao
2022 arXiv   pre-print
Our results show that sensor placement is non-negligible in 3D point cloud-based object detection, which will contribute up to 10% performance discrepancy in terms of average precision in challenging 3D  ...  To this end, we introduce an easy-to-compute information-theoretic surrogate metric to quantitatively and fast evaluate LiDAR placement for 3D detection of different types of objects.  ...  Pointr- cnn: 3d object proposal generation and detection from point cloud.  ... 
arXiv:2105.00373v4 fatcat:xqwxkpbmrrcp3ecsewptsit3li
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