Related papers: End-to-End Multi-View Fusion for 3D Object Detecti…
Reliable 3D object perception is essential in autonomous driving. Owing to its sensing capabilities in all weather conditions, 4D radar has recently received much attention. However, compared to LiDAR, 4D radar provides much sparser point…
Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the…
The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…
Incorporating multiple camera views for detection alleviates the impact of occlusions in crowded scenes. In a multiview system, we need to answer two important questions when dealing with ambiguities that arise from occlusions. First, how…
Information inside visual and LiDAR data is well complementary derived from the fine-grained texture of images and massive geometric information in point clouds. However, it remains challenging to explore effective visual-LiDAR fusion,…
Object detection is the central issue of intelligent traffic systems, and recent advancements in single-vehicle lidar-based 3D detection indicate that it can provide accurate position information for intelligent agents to make decisions and…
Deep learning is providing a wealth of new approaches to the problem of novel view synthesis, from Neural Radiance Field (NeRF) based approaches to end-to-end style architectures. Each approach offers specific strengths but also comes with…
Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…
Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However,…
Machine vision systems, which can efficiently manage extensive visual perception tasks, are becoming increasingly popular in industrial production and daily life. Due to the challenge of simultaneously obtaining accurate depth and texture…
We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…
As the multi-view data grows in the real world, multi-view clus-tering has become a prominent technique in data mining, pattern recognition, and machine learning. How to exploit the relation-ship between different views effectively using…
We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…
Current Vehicle-to-Everything (V2X) systems have significantly enhanced 3D object detection using LiDAR and camera data. However, these methods suffer from performance degradation in adverse weather conditions. The weather-robust 4D radar…
State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…
This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…
Effective point cloud processing is crucial to LiDARbased autonomous driving systems. The capability to understand features at multiple scales is required for object detection of intelligent vehicles, where road users may appear in…
3D object detection in driving scenarios faces the challenge of complex road environments, which can lead to the loss or incompleteness of key features, thereby affecting perception performance. To address this issue, we propose an advanced…