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Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…

3D single object tracking plays a crucial role in computer vision. Mainstream methods mainly rely on point clouds to achieve geometry matching between target template and search area. However, textureless and incomplete point clouds make it…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Hyperspectral point clouds (HPCs) can simultaneously characterize 3D spatial and spectral information of ground objects, offering excellent 3D perception and target recognition capabilities. Current approaches for generating HPCs often…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

We present the first work demonstrating that a pure Mamba block can achieve efficient Dense Global Fusion, meanwhile guaranteeing top performance for camera-LiDAR multi-modal 3D object detection. Our motivation stems from the observation…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

The worldwide commercialization of fifth generation (5G) wireless networks and the exciting possibilities offered by connected and autonomous vehicles (CAVs) are pushing toward the deployment of heterogeneous sensors for tracking dynamic…

While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…