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Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

We present an endpoint box regression module(epBRM), which is designed for predicting precise 3D bounding boxes using raw LiDAR 3D point clouds. The proposed epBRM is built with sequence of small networks and is computationally lightweight.…

To achieve reliable and precise scene understanding, autonomous vehicles typically incorporate multiple sensing modalities to capitalize on their complementary attributes. However, existing cross-modal 3D detectors do not fully utilize the…

LiDAR sensors can be used to obtain a wide range of measurement signals other than a simple 3D point cloud, and those signals can be leveraged to improve perception tasks like 3D object detection. A single laser pulse can be partially…

The dynamic range limitation of conventional RGB cameras reduces global contrast and causes loss of high-frequency details such as textures and edges in complex traffic environments (e.g., nighttime driving, tunnels), hindering…

Moving Object Detection (MOD) is a critical vision task for successfully achieving safe autonomous driving. Despite plausible results of deep learning methods, most existing approaches are only frame-based and may fail to reach reasonable…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Recent advances in camera equipped drone applications and their widespread use increased the demand on vision based object detection algorithms for aerial images. Object detection process is inherently a challenging task as a generic…

Fusion of LiDAR and RGB data has the potential to enhance outdoor 3D object detection accuracy. To address real-world challenges in outdoor 3D object detection, fusion of LiDAR and RGB input has started gaining traction. However, effective…

It is counter-intuitive that multi-modality methods based on point cloud and images perform only marginally better or sometimes worse than approaches that solely use point cloud. This paper investigates the reason behind this phenomenon.…

Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

LiDAR-based 3D object detection pushes forward an immense influence on autonomous vehicles. Due to the limitation of the intrinsic properties of LiDAR, fewer points are collected at the objects farther away from the sensor. This imbalanced…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Leveraging LiDAR-based detectors or real LiDAR point data to guide monocular 3D detection has brought significant improvement, e.g., Pseudo-LiDAR methods. However, the existing methods usually apply non-end-to-end training strategies and…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…