Related papers: VIMI: Vehicle-Infrastructure Multi-view Intermedia…
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…
3D multi-object tracking (MOT) is essential for an autonomous mobile agent to safely navigate a scene. In order to maximize the perception capabilities of the autonomous agent, we aim to develop a 3D MOT framework that fuses camera and…
Our study assesses the adversarial robustness of LiDAR-camera fusion models in 3D object detection. We introduce an attack technique that, by simply adding a limited number of physically constrained adversarial points above a car, can make…
LiDAR-based Vehicle-to-Everything (V2X) cooperative perception has demonstrated its impact on the safety and effectiveness of autonomous driving. Since current cooperative perception algorithms are trained and tested on the same dataset,…
Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and…
In autonomous driving, using a variety of sensors to recognize preceding vehicles in middle and long distance is helpful for improving driving performance and developing various functions. However, if only LiDAR or camera is used in the…
Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However,…
Combining LiDAR and camera data has shown potential in enhancing short-distance object detection in autonomous driving systems. Yet, the fusion encounters difficulties with extended distance detection due to the contrast between LiDAR's…
Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…
The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…
We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…
Infrared-visible image fusion (IVIF) is a critical task in computer vision, aimed at integrating the unique features of both infrared and visible spectra into a unified representation. Since 2018, the field has entered the deep learning…
Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inherent heterogeneity between these modalities, including…
In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…
Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…
There have been significant advances in neural networks for both 3D object detection using LiDAR and 2D object detection using video. However, it has been surprisingly difficult to train networks to effectively use both modalities in a way…
Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…
The paper addresses the vehicle-to-X (V2X) data fusion for cooperative or collective perception (CP). This emerging and promising intelligent transportation systems (ITS) technology has enormous potential for improving efficiency and safety…
Video Anomaly Detection (VAD) is an essential yet challenging task in signal processing. Since certain anomalies cannot be detected by isolated analysis of either temporal or spatial information, the interaction between these two types of…
3D object detection using LiDAR-based point cloud data and deep neural networks is essential in autonomous driving technology. However, deploying state-of-the-art models on edge devices present challenges due to high computational demands…