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The inherent noisy and sparse characteristics of radar data pose challenges in finding effective representations for 3D object detection. In this paper, we propose RadarDistill, a novel knowledge distillation (KD) method, which can improve…
Unmanned aerial vehicles (UAV)-based object detection with visible (RGB) and infrared (IR) images facilitates robust around-the-clock detection, driven by advancements in deep learning techniques and the availability of high-quality…
Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…
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…
While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…
In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…
Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…
Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…
As one of the automotive sensors that have emerged in recent years, 4D millimeter-wave radar has a higher resolution than conventional 3D radar and provides precise elevation measurements. But its point clouds are still sparse and noisy,…
LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…
3D multi-object tracking is a crucial component in the perception system of autonomous driving vehicles. Tracking all dynamic objects around the vehicle is essential for tasks such as obstacle avoidance and path planning. Autonomous…
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…
Pedestrian detection plays a critical role in computer vision as it contributes to ensuring traffic safety. Existing methods that rely solely on RGB images suffer from performance degradation under low-light conditions due to the lack of…
Detecting traversable pathways in unstructured outdoor environments remains a significant challenge for autonomous robots, especially in critical applications such as wide-area search and rescue, as well as incident management scenarios…
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 rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…
The combination of LiDAR and camera modalities is proven to be necessary and typical for 3D object detection according to recent studies. Existing fusion strategies tend to overly rely on the LiDAR modal in essence, which exploits the…
Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…
In the field of 3D object detection for autonomous driving, LiDAR-Camera (LC) fusion is the top-performing sensor configuration. Still, LiDAR is relatively high cost, which hinders adoption of this technology for consumer automobiles.…
Visible-infrared object detection has gained sufficient attention due to its detection performance in low light, fog, and rain conditions. However, visible and infrared modalities captured by different sensors exist the information…