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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…
This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…
In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…
4D millimeter-wave radar is a promising sensing modality for autonomous driving, yet effective 3D object detection from 4D radar and monocular images remains challenging. Existing fusion approaches either rely on instance proposals lacking…
Effectively preserving and encoding structure features from objects in irregular and sparse LiDAR points is a key challenge to 3D object detection on point cloud. Recently, Transformer has demonstrated promising performance on many 2D and…
Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…
Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…
Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…
Segmenting objects in an environment is a crucial task for autonomous driving and robotics, as it enables a better understanding of the surroundings of each agent. Although camera sensors provide rich visual details, they are vulnerable to…
Detecting objects efficiently from radar sensors has recently become a popular trend due to their robustness against adverse lighting and weather conditions compared with cameras. This paper presents an efficient object detection model for…
The main challenge for small object detection algorithms is to ensure accuracy while pursuing real-time performance. The RT-DETR model performs well in real-time object detection, but performs poorly in small object detection accuracy. In…
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…
Deep learning based change detection methods have received wide attentoion, thanks to their strong capability in obtaining rich features from images. However, existing AI-based CD methods largely rely on three functionality-enhancing…
LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…
DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…
In the perception task of autonomous driving, multi-modal methods have become a trend due to the complementary characteristics of LiDAR point clouds and image data. However, the performance of multi-modal methods is usually limited by the…
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,…
The 3D reconstruction of faces gains wide attention in computer vision and is used in many fields of application, for example, animation, virtual reality, and even forensics. This work is motivated by monitoring patients in sleep…
Radar has gained much attention in autonomous driving due to its accessibility and robustness. However, its standalone application for depth perception is constrained by issues of sparsity and noise. Radar-camera depth estimation offers a…
Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…