Related papers: SimDistill: Simulated Multi-modal Distillation for…

Recent years have witnessed the remarkable progress of 3D multi-modality object detection methods based on the Bird's-Eye-View (BEV) perspective. However, most of them overlook the complementary interaction and guidance between LiDAR and…

Bird's-Eye-View (BEV) map segmentation is one of the most important and challenging tasks in autonomous driving. Camera-only approaches have drawn attention as cost-effective alternatives to LiDAR, but they still fall behind LiDAR-Camera…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

Place recognition is crucial for loop closure detection and global localization in robotics. Although mainstream algorithms typically rely on cameras and LiDAR, these sensors are susceptible to adverse weather conditions. Fortunately, the…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

Adversarial attacks pose a significant threat to learning-based 3D point cloud models, critically undermining their reliability in security-sensitive applications. Existing defense methods often suffer from (1) high computational overhead…

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…

Knowledge Distillation (KD) has been used in image classification for model compression. However, rare studies apply this technology on single-stage object detectors. Focal loss shows that the accumulated errors of easily-classified samples…

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will…

While diffusion models effectively generate remarkable synthetic images, a key limitation is the inference inefficiency, requiring numerous sampling steps. To accelerate inference and maintain high-quality synthesis, teacher-student…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

Camera-only 3D object detection has emerged as a cost-effective and scalable alternative to LiDAR for autonomous driving, yet existing methods primarily prioritize overall performance while overlooking the severe long-tail imbalance…

In this research, we propose a new 3D object detector with a trustworthy depth estimation, dubbed BEVDepth, for camera-based Bird's-Eye-View (BEV) 3D object detection. Our work is based on a key observation -- depth estimation in recent…

3D object detection is fundamental for safe and robust intelligent transportation systems. Current multi-modal 3D object detectors often rely on complex architectures and training strategies to achieve higher detection accuracy. However,…

Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…

As two fundamental representation modalities of 3D objects, 3D point clouds and multi-view 2D images record shape information from different domains of geometric structures and visual appearances. In the current deep learning era,…

Recently, radar-camera fusion algorithms have gained significant attention as radar sensors provide geometric information that complements the limitations of cameras. However, most existing radar-camera depth estimation algorithms focus…

In recent years, pre-trained multimodal large models have attracted widespread attention due to their outstanding performance in various multimodal applications. Nonetheless, the extensive computational resources and vast datasets required…

Vision-Language Models (VLMs) have shown remarkable performance on diverse visual and linguistic tasks, yet they remain fundamentally limited in their understanding of 3D spatial structures. We propose Geometric Distillation, a lightweight,…