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We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…

The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view images to perform multi-round query refinement. In such a…

Pre-training is crucial in 3D-related fields such as autonomous driving where point cloud annotation is costly and challenging. Many recent studies on point cloud pre-training, however, have overlooked the issue of incompleteness, where…

In this paper, we present DAT, a Depth-Aware Transformer framework designed for camera-based 3D detection. Our model is based on observing two major issues in existing methods: large depth translation errors and duplicate predictions along…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

Accurately detecting lane lines in 3D space is crucial for autonomous driving. Existing methods usually first transform image-view features into bird-eye-view (BEV) by aid of inverse perspective mapping (IPM), and then detect lane lines…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

In radar-camera 3D object detection, the radar point clouds are sparse and noisy, which causes difficulties in fusing camera and radar modalities. To solve this, we introduce a novel query-based detection method named Radar-Camera…

Recent advancements in Model-Based Reinforcement Learning (MBRL) have made it a powerful tool for visual control tasks. Despite improved data efficiency, it remains challenging to train MBRL agents with generalizable perception. Training in…

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…

Multi-label image classification is about predicting a set of class labels that can be considered as orderless sequential data. Transformers process the sequential data as a whole, therefore they are inherently good at set prediction. The…

The introduction of DETR represents a new paradigm for object detection. However, its decoder conducts classification and box localization using shared queries and cross-attention layers, leading to suboptimal results. We observe that…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…