Related papers: Cross Modal Transformer: Towards Fast and Robust 3…

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…

Deep learning based change detection methods have received wide attentoion, thanks to their strong capability in obtaining rich features from images. However, existing AI-based CD methods largely rely on three functionality-enhancing…

Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…

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,…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Inspired by the great success achieved by CNN in image recognition, view-based methods applied CNNs to model the projected views for 3D object understanding and achieved excellent performance. Nevertheless, multi-view CNN models cannot…

We present ModMap, a natively multiview and multimodal framework for 3D anomaly detection and segmentation. Unlike existing methods that process views independently, our method draws inspiration from the crossmodal feature mapping paradigm…

Accelerated multi-modal magnetic resonance (MR) imaging is a new and effective solution for fast MR imaging, providing superior performance in restoring the target modality from its undersampled counterpart with guidance from an auxiliary…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

Feature matching is a cornerstone task in computer vision, essential for applications such as image retrieval, stereo matching, 3D reconstruction, and SLAM. This survey comprehensively reviews modality-based feature matching, exploring…

Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

Mobile monocular 3D object detection (Mono3D) (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Existing transformer-based offline Mono3D models adopt grid-based vision tokens, which is suboptimal when using…

In automotive sensor fusion systems, smart sensors and Vehicle-to-Everything (V2X) modules are commonly utilized. Sensor data from these systems are typically available only as processed object lists rather than raw sensor data from…