Related papers: RSN: Range Sparse Net for Efficient, Accurate LiDA…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

We present a simple yet effective fully convolutional one-stage 3D object detector for LiDAR point clouds of autonomous driving scenes, termed FCOS-LiDAR. Unlike the dominant methods that use the bird-eye view (BEV), our proposed detector…

This paper introduces a method based on a deep neural network (DNN) that is perfectly capable of processing radar data from extremely thinned radar apertures. The proposed DNN processing can provide both aliasing-free radar imaging and…

We present region-based, fully convolutional networks for accurate and efficient object detection. In contrast to previous region-based detectors such as Fast/Faster R-CNN that apply a costly per-region subnetwork hundreds of times, our…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

LiDAR (laser based radar) systems are a major part of many new real-world interactive systems, one of the most notable being autonomous cars. The current market LiDAR systems are limited by detector sensitivity: when output power is at…

We present Sparse R-CNN, a purely sparse method for object detection in images. Existing works on object detection heavily rely on dense object candidates, such as $k$ anchor boxes pre-defined on all grids of image feature map of size…

In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Object recognition systems are usually trained and evaluated on high resolution images. However, in real world applications, it is common that the images have low resolutions or have small sizes. In this study, we first track the…

In autonomous driving perception systems, 3D detection and tracking are the two fundamental tasks. This paper delves deeper into this field, building upon the Sparse4D framework. We introduce two auxiliary training tasks (Temporal Instance…

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 this difference, many 3D detectors directly follow the common…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

In this study, proposes a method for improved object detection from the low-resolution images by integrating Enhanced Super-Resolution Generative Adversarial Networks (ESRGAN) and Faster Region-Convolutional Neural Network (Faster R-CNN).…

Efficient generation of high-quality object proposals is an essential step in state-of-the-art object detection systems based on deep convolutional neural networks (DCNN) features. Current object proposal algorithms are computationally…

Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…