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In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…

Bird's-eye-view (BEV) representations are the dominant paradigm for 3D perception in autonomous driving, providing a unified spatial canvas where detection and segmentation features are geometrically registered to the same physical…

Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications,…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

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…

3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus,…

While recent low-cost radar-camera approaches have shown promising results in multi-modal 3D object detection, both sensors face challenges from environmental and intrinsic disturbances. Poor lighting or adverse weather conditions degrade…

Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…

A critical aspect of autonomous vehicles (AVs) is the object detection stage, which is increasingly being performed with sensor fusion models: multimodal 3D object detection models which utilize both 2D RGB image data and 3D data from a…

This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…

We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

In the field of autonomous driving and mobile robotics, there has been a significant shift in the methods used to create Bird's Eye View (BEV) representations. This shift is characterised by using transformers and learning to fuse…

Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…

Combining complementary sensor modalities is crucial to providing robust perception for safety-critical robotics applications such as autonomous driving (AD). Recent state-of-the-art camera-lidar fusion methods for AD rely on monocular…

Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…

3D perception based on the representations learned from multi-camera bird's-eye-view (BEV) is trending as cameras are cost-effective for mass production in autonomous driving industry. However, there exists a distinct performance gap…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…