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Vehicle-to-Everything (V2X) collaborative perception has recently gained significant attention due to its capability to enhance scene understanding by integrating information from various agents, e.g., vehicles, and infrastructure. However,…

Object detection is the central issue of intelligent traffic systems, and recent advancements in single-vehicle lidar-based 3D detection indicate that it can provide accurate position information for intelligent agents to make decisions and…

LiDAR-based Vehicle-to-Everything (V2X) cooperative perception has demonstrated its impact on the safety and effectiveness of autonomous driving. Since current cooperative perception algorithms are trained and tested on the same dataset,…

Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…

Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…

Accurate 3D object detection is essential for ensuring the safety of autonomous vehicles. Cooperative perception, which leverages vehicle-to-everything (V2X) communication to share perceptual data, enhances detection but is vulnerable to…

Real-world Vehicle-to-Everything (V2X) cooperative perception systems often operate under heterogeneous sensor configurations due to cost constraints and deployment variability across vehicles and infrastructure. This heterogeneity poses…

V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy,…

Vehicle-to-Everything (V2X) collaborative perception extends sensing beyond single vehicle limits through transmission. However, as more agents participate, existing frameworks face two key challenges: (1) the participating agents are…

Infrastructure sensors installed at elevated positions offer a broader perception range and encounter fewer occlusions. Integrating both infrastructure and ego-vehicle data through V2X communication, known as vehicle-infrastructure…

Fusing LiDAR and image features in a homogeneous BEV domain has become popular for 3D object detection in autonomous driving. However, this paradigm is constrained by the excessive feature compression. While some works explore dense voxel…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Autonomous driving faces great safety challenges for a lack of global perspective and the limitation of long-range perception capabilities. It has been widely agreed that vehicle-infrastructure cooperation is required to achieve Level 5…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…

Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with…

Cooperative perception allows connected vehicles and roadside infrastructure to share sensor observations, creating a fused scene representation beyond the capability of any single platform. However, most cooperative 3D object detectors use…

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

Most existing infrared-visible image fusion (IVIF) methods assume high-quality inputs, and therefore struggle to handle dual-source degraded scenarios, typically requiring manual selection and sequential application of multiple…