Related papers: SSLFusion: Scale & Space Aligned Latent Fusion Mod…

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…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Modern multispectral feature fusion for object detection faces two critical limitations: (1) Excessive preference for local complementary features over cross-modal shared semantics adversely affects generalization performance; and (2) The…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

State-of-the-art LiDAR-camera 3D object detectors usually focus on feature fusion. However, they neglect the factor of depth while designing the fusion strategy. In this work, we are the first to observe that different modalities play…

Point cloud sequences are commonly used to accurately detect 3D objects in applications such as autonomous driving. Current top-performing multi-frame detectors mostly follow a Detect-and-Fuse framework, which extracts features from each…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Point clouds and images could provide complementary information when representing 3D objects. Fusing the two kinds of data usually helps to improve the detection results. However, it is challenging to fuse the two data modalities, due to…

Fusing 3D LiDAR features with 2D camera features is a promising technique for enhancing the accuracy of 3D detection, thanks to their complementary physical properties. While most of the existing methods focus on directly fusing camera…

3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse…

Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to…

In this paper, we propose a novel training strategy called SupFusion, which provides an auxiliary feature level supervision for effective LiDAR-Camera fusion and significantly boosts detection performance. Our strategy involves a data…

Multi-sensor fusion (MSF) is widely used in autonomous vehicles (AVs) for perception, particularly for 3D object detection with camera and LiDAR sensors. The purpose of fusion is to capitalize on the advantages of each modality while…