Related papers: Towards a Robust Sensor Fusion Step for 3D Object …
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…
Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…
Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
With the advent of advanced multi-sensor fusion models, there has been a notable enhancement in the performance of perception tasks within in terms of autonomous driving. Despite these advancements, the challenges persist, particularly in…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…
Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Existing multi-modal 3D detection models usually involve customized designs depending on the sensor combinations or setups. In this…
Robust 3D object detection in extreme weather and illumination conditions is a challenging task. While radars and thermal cameras are known for their resilience to these conditions, few studies have been conducted on radar-thermal fusion…
We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…
In this paper, we propose a novel 3D object detector that can exploit both LIDAR as well as cameras to perform very accurate localization. Towards this goal, we design an end-to-end learnable architecture that exploits continuous…
Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…
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…
The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…
Recent advancements in 3D object detection have benefited from multi-modal information from the multi-view cameras and LiDAR sensors. However, the inherent disparities between the modalities pose substantial challenges. We observe that…
Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…
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…
Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…