Related papers: CORENet: Cross-Modal 4D Radar Denoising Network wi…
Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…
Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
Automotive traffic scenes are complex due to the variety of possible scenarios, objects, and weather conditions that need to be handled. In contrast to more constrained environments, such as automated underground trains, automotive…
4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…
This paper introduces DGNet, a novel deep framework that exploits object gradient supervision for camouflaged object detection (COD). It decouples the task into two connected branches, i.e., a context and a texture encoder. The essential…
Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily…
Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…
Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…
While automated vehicles hold the potential to significantly reduce traffic accidents, their perception systems remain vulnerable to sensor degradation caused by adverse weather and environmental occlusions. Collective perception, which…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
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 the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…
Reliable autonomous driving systems require accurate detection of traffic participants. To this end, multi-modal fusion has emerged as an effective strategy. In particular, 4D radar and LiDAR fusion methods based on multi-frame radar point…
Pervasive sensing in industrial and underground environments is severely constrained by airborne dust, smoke, confined geometry, and metallic structures, which rapidly degrade optical and LiDAR based perception. Elevation resolved 4D mmWave…
We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…
This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…
This paper presents two variations of architecture referred to as RANet and BIRANet. The proposed architecture aims to use radar signal data along with RGB camera images to form a robust detection network that works efficiently, even in…
Unlike RGB cameras that use visible light bands (384$\sim$769 THz) and Lidars that use infrared bands (361$\sim$331 THz), Radars use relatively longer wavelength radio bands (77$\sim$81 GHz), resulting in robust measurements in adverse…
Good 3D object detection performance from LiDAR-Camera sensors demands seamless feature alignment and fusion strategies. We propose the 3DifFusionDet framework in this paper, which structures 3D object detection as a denoising diffusion…