6 papers
Shape-Prior-Based Point Cloud Completion for Single-Stage Fully Sparse 3D Object Detection
Kaizheng Wang, Mingqian Ji, Jian Yang +1
Single-stage fully sparse 3D object detectors rely on point clouds data to detect objects in autonomous driving scenarios. However, the sparsity and incompleteness of point clouds…
Revisiting Token Compression for Accelerating ViT-based Sparse Multi-View 3D Object Detectors
Mingqian Ji, Shanshan Zhang, Jian Yang
Vision Transformer (ViT)-based sparse multi-view 3D object detectors have achieved remarkable accuracy but still suffer from high inference latency due to heavy token processing. T…
RayMamba: Ray-Aligned Serialization for Long-Range 3D Object Detection
Cheng Lu, Mingqian Ji, Shanshan Zhang +2
Long-range 3D object detection remains challenging because LiDAR observations become highly sparse and fragmented in the far field, making reliable context modeling difficult for e…
Enhancing Pseudo-Boxes via Data-Level LiDAR-Camera Fusion for Unsupervised 3D Object Detection
Mingqian Ji, Jian Yang, Shanshan Zhang
Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-con…
OcRFDet: Object-Centric Radiance Fields for Multi-View 3D Object Detection in Autonomous Driving
Mingqian Ji, Jian Yang, Shanshan Zhang
Current multi-view 3D object detection methods typically transfer 2D features into 3D space using depth estimation or 3D position encoder, but in a fully data-driven and implicit m…
DepthFusion: Depth-Aware Hybrid Feature Fusion for LiDAR-Camera 3D Object Detection
Mingqian Ji, Jian Yang, Shanshan Zhang
State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we a…