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Dynamic outdoor environments with high temporal variation (HTV) pose significant challenges for 3D single object tracking in LiDAR point clouds. Existing memory-based trackers often suffer from quadratic computational complexity, temporal…

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…

Recent advances towards End-to-End Autonomous Driving (E2E-AD) have been often devoted on integrating modular designs into a unified framework for joint optimization e.g. UniAD, which follow a sequential paradigm (i.e.,…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Event-based eye tracking has shown great promise with the high temporal resolution and low redundancy provided by the event camera. However, the diversity and abruptness of eye movement patterns, including blinking, fixating, saccades, and…

Multispectral object detection is an important application for unmanned aerial vehicles (UAVs). However, it faces several challenges. First, low-light RGB images weaken the multispectral fusion due to details loss. Second, the interference…

Serving the Intelligent Transport System (ITS) and Vehicle-to-Everything (V2X) tasks, roadside perception has received increasing attention in recent years, as it can extend the perception range of connected vehicles and improve traffic…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Infrastructure-based perception plays a crucial role in intelligent transportation systems, offering global situational awareness and enabling cooperative autonomy. However, existing camera-based detection models often underperform in such…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

Vision Language Place Recognition (VLVPR) enhances robot localization performance by incorporating natural language descriptions from images. By utilizing language information, VLVPR directs robot place matching, overcoming the constraint…

Multimodal image fusion aims to integrate information from different imaging techniques to produce a comprehensive, detail-rich single image for downstream vision tasks. Existing methods based on local convolutional neural networks (CNNs)…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

In this work, we propose \textit{MVFuseNet}, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either…

The Bird-Eye-View (BEV) is one of the most widely-used scene representations for visual perception in Autonomous Vehicles (AVs) due to its well suited compatibility to downstream tasks. For the enhanced safety of AVs, modeling perception…

Bird's eye view (BEV) representation is a new perception formulation for autonomous driving, which is based on spatial fusion. Further, temporal fusion is also introduced in BEV representation and gains great success. In this work, we…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

Semantic segmentation is a fundamental task in computer vision with wide-ranging applications, including autonomous driving and robotics. While RGB-based methods have achieved strong performance with CNNs and Transformers, their…

Identifying moving objects is an essential capability for autonomous systems, as it provides critical information for pose estimation, navigation, collision avoidance, and static map construction. In this paper, we present MotionBEV, a fast…

Accurate object detection and prediction are critical to ensure the safety and efficiency of self-driving architectures. Predicting object trajectories and occupancy enables autonomous vehicles to anticipate movements and make decisions…