41 citations · 70 across the 11 of their papers we have counts for
11 papers · 1 filter
NeoVerse: Enhancing 4D World Model with in-the-wild Monocular Videos
Yuxue Yang, Lue Fan, Ziqi Shi +3
In this paper, we propose NeoVerse, a versatile 4D world model that is capable of 4D reconstruction, novel-trajectory video generation, and rich downstream applications. We first i…
Towards Flexible 3D Perception: Object-Centric Occupancy Completion Augments 3D Object Detection
Chaoda Zheng, Feng Wang, Naiyan Wang +2
While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrins…
FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels
Lue Fan, Feng Wang, Naiyan Wang +1
LiDAR-based fully sparse architecture has garnered increasing attention. FSDv1 stands out as a representative work, achieving impressive efficacy and efficiency, albeit with intric…
Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusion
Yang Liu, Feng Wang, Naiyan Wang +1
Radar is ubiquitous in autonomous driving systems due to its low cost and good adaptability to bad weather. Nevertheless, the radar detection performance is usually inferior becaus…
Frame Fusion with Vehicle Motion Prediction for 3D Object Detection
Xirui Li, Feng Wang, Naiyan Wang +1
In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future d…
Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection
Lue Fan, Yuxue Yang, Yiming Mao +4
This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective.…
Super Sparse 3D Object Detection
Lue Fan, Yuxue Yang, Feng Wang +2
As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object det…
Fully Sparse 3D Object Detection
Lue Fan, Feng Wang, Naiyan Wang +1
As the perception range of LiDAR increases, LiDAR-based 3D object detection becomes a dominant task in the long-range perception task of autonomous driving. The mainstream 3D objec…
Embracing Single Stride 3D Object Detector with Sparse Transformer
Lue Fan, Ziqi Pang, Tianyuan Zhang +5
In LiDAR-based 3D object detection for autonomous driving, the ratio of the object size to input scene size is significantly smaller compared to 2D detection cases. Overlooking thi…
LiDAR R-CNN: An Efficient and Universal 3D Object Detector
Zhichao Li, Feng Wang, Naiyan Wang
LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can general…
RangeDet:In Defense of Range View for LiDAR-based 3D Object Detection
Lue Fan, Xuan Xiong, Feng Wang +2
In this paper, we propose an anchor-free single-stage LiDAR-based 3D object detector -- RangeDet. The most notable difference with previous works is that our method is purely based…