Related papers: MotionNet: Joint Perception and Motion Prediction …

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

In this work, we propose \textit{MVFuseNet}, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

Robust real-time detection and motion forecasting of traffic participants is necessary for autonomous vehicles to safely navigate urban environments. In this paper, we present RV-FuseNet, a novel end-to-end approach for joint detection and…

On-board 3D object detection in autonomous vehicles often relies on geometry information captured by LiDAR devices. Albeit image features are typically preferred for detection, numerous approaches take only spatial data as input. Exploiting…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

We present a learning-based method to estimate the object bounding box from its 2D bird's-eye view (BEV) LiDAR points. Our method, entitled BoxNet, exploits a simple deep neural network that can efficiently handle unordered points. The…

Detecting pedestrians and predicting future trajectories for them are critical tasks for numerous applications, such as autonomous driving. Previous methods either treat the detection and prediction as separate tasks or simply add a…