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This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…
Adverse weather conditions can negatively affect LiDAR-based object detectors. In this work, we focus on the phenomenon of vehicle gas exhaust condensation in cold weather conditions. This everyday effect can influence the estimation of…
Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…
The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…
Most object detection methods for autonomous driving usually assume a consistent feature distribution between training and testing data, which is not always the case when weathers differ significantly. The object detection model trained…
The deployment of autonomous vehicles (AVs) is rapidly expanding to numerous cities. At the heart of AVs, the object detection module assumes a paramount role, directly influencing all downstream decision-making tasks by considering the…
With the rise of autonomous vehicles and advanced driver-assistance systems (ADAS), ensuring reliable object detection in all weather conditions is crucial for safety and efficiency. Adverse weather like snow, rain, and fog presents major…
Autonomous cars are an emergent technology which has the capacity to change human lives. The current sensor systems which are most capable of perception are based on optical sensors. For example, deep neural networks show outstanding…
Monocular 3D object detection is an important challenging task in autonomous driving. Existing methods mainly focus on performing 3D detection in ideal weather conditions, characterized by scenarios with clear and optimal visibility.…
This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…
The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…
RT-DETRs have shown strong performance across various computer vision tasks but are known to degrade under challenging weather conditions such as fog. In this work, we investigate three novel approaches to enhance RT-DETR robustness in…
Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…
LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…
In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…
Typically, object detection methods for autonomous driving that rely on supervised learning make the assumption of a consistent feature distribution between the training and testing data, this such assumption may fail in different weather…
In autonomous driving, LiDAR and radar are crucial for environmental perception. LiDAR offers precise 3D spatial sensing information but struggles in adverse weather like fog. Conversely, radar signals can penetrate rain or mist due to…
LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
Advanced automotive active-safety systems, in general, and autonomous vehicles, in particular, rely heavily on visual data to classify and localize objects such as pedestrians, traffic signs and lights, and other nearby cars, to assist the…