Related papers: VoxelFormer: Bird's-Eye-View Feature Generation ba…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

Transformers have become an indispensable module for text generation models since their great success in machine translation. Previous works attribute the~success of transformers to the query-key-value dot-product attention, which provides…

Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…

With the emergence of VR and AR, 360{\deg} data attracts increasing attention from the computer vision and multimedia communities. Typically, 360{\deg} data is projected into 2D ERP (equirectangular projection) images for feature…

Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a…

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera…

Effectively preserving and encoding structure features from objects in irregular and sparse LiDAR points is a key challenge to 3D object detection on point cloud. Recently, Transformer has demonstrated promising performance on many 2D and…

Vision transformers (ViTs) have found only limited practical use in processing images, in spite of their state-of-the-art accuracy on certain benchmarks. The reason for their limited use include their need for larger training datasets and…

Collecting multi-view driving scenario videos to enhance the performance of 3D visual perception tasks presents significant challenges and incurs substantial costs, making generative models for realistic data an appealing alternative. Yet,…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

Vision Transformer (ViT) models have demonstrated a breakthrough in a wide range of computer vision tasks. However, compared to the Convolutional Neural Network (CNN) models, it has been observed that the ViT models struggle to capture…

Oriented object detection in remote sensing images is a challenging task due to objects being distributed in multi-orientation. Recently, end-to-end transformer-based methods have achieved success by eliminating the need for post-processing…

Query-based transformer has shown great potential in constructing long-range attention in many image-domain tasks, but has rarely been considered in LiDAR-based 3D object detection due to the overwhelming size of the point cloud data. In…

Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…

In the field of 3D object detection tasks, fusing heterogeneous features from LiDAR and camera sensors into a unified Bird's Eye View (BEV) representation is a widely adopted paradigm. However, existing methods often suffer from imprecise…

Vision transformers have shown excellent performance in computer vision tasks. As the computation cost of their self-attention mechanism is expensive, recent works tried to replace the self-attention mechanism in vision transformers with…

LiDAR-based 3D object detection and classification is crucial for autonomous driving. However, real-time inference from extremely sparse 3D data is a formidable challenge. To address this problem, a typical class of approaches transforms…

Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task,…