Related papers: M^3Detection: Multi-Frame Multi-Level Feature Fusi…
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…
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…
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…
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…
While LiDAR sensors have been successfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusing radars and cameras for 3D object detection. However, previous radar-camera…
We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…
Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…
The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…
4D radar-camera sensing configuration has gained increasing importance in autonomous driving. However, existing 3D object detection methods that fuse 4D Radar and camera data confront several challenges. First, their absolute depth…
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…
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 emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…
Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more…
Accurate and robust 3D object detection is a critical component in autonomous vehicles and robotics. While recent radar-camera fusion methods have made significant progress by fusing information in the bird's-eye view (BEV) representation,…
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…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…
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…
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…
4D millimeter-wave (mmWave) radar has been widely adopted in autonomous driving and robot perception due to its low cost and all-weather robustness. However, point-cloud-based radar representations suffer from information loss due to…
In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…