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Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…
The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…
Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
Accurate and robust 3D object detection is essential for autonomous driving, where fusing data from sensors like LiDAR and camera enhances detection accuracy. However, sensor malfunctions such as corruption or disconnection can degrade…
LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…
In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awareness is a critical requirement in many robotics applications.…
Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people…
The fusion of LiDAR and camera sensors has demonstrated significant effectiveness in achieving accurate detection for short-range tasks in autonomous driving. However, this fusion approach could face challenges when dealing with long-range…
This paper presents an automated driving system (ADS) data acquisition and processing platform for vehicle trajectory extraction, reconstruction, and evaluation based on connected automated vehicle (CAV) cooperative perception. This…
Reliable 3D object perception is essential in autonomous driving. Owing to its sensing capabilities in all weather conditions, 4D radar has recently received much attention. However, compared to LiDAR, 4D radar provides much sparser point…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Cross-modality fusing complementary information of multispectral remote sensing image pairs can improve the perception ability of detection algorithms, making them more robust and reliable for a wider range of applications, such as…
In this paper, we propose an accurate and robust perception module for Autonomous Vehicles (AVs) for drivable space extraction. Perception is crucial in autonomous driving, where many deep learning-based methods, while accurate on benchmark…
Accurate 3D object detection for autonomous driving requires complementary sensors. Cameras provide dense semantics but unreliable depth, while millimeter-wave radar offers precise range and velocity measurements with sparse geometry. We…
In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…
The safety of an automated vehicle hinges crucially upon the accuracy of perception and decision-making latency. Under these stringent requirements, future automated cars are usually equipped with multi-modal sensors such as cameras and…