相关论文: VANETs Meet Autonomous Vehicles: A Multimodal 3D E…

Multi-view camera-only 3D object detection largely follows two primary paradigms: exploiting bird's-eye-view (BEV) representations or focusing on perspective-view (PV) features, each with distinct advantages. Although several recent…

The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…

Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scenes and exhibit adaptive behaviors. This capability, however,…

This work introduces a new approach for joint detection of centerlines based on image data by localizing the features jointly in 2D and 3D. In contrast to existing work that focuses on detection of visual cues, we explore feature extraction…

Vehicle-to-everything (V2X) collaborative perception has emerged as a promising solution to address the limitations of single-vehicle perception systems. However, existing V2X datasets are limited in scope, diversity, and quality. To…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Cutting-edge connected vehicle (CV) technologies have drawn much attention in recent years. The real-time traffic data captured by a CV can be shared with other CVs and data centers so as to open new possibilities for solving diverse…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

3D object detection in Bird's-Eye-View (BEV) space has recently emerged as a prevalent approach in the field of autonomous driving. Despite the demonstrated improvements in accuracy and velocity estimation compared to perspective view…

3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects.…

Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…

Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…

We propose a 3D object detection system with multi-sensor refinement in the context of autonomous driving. In our framework, the monocular camera serves as the fundamental sensor for 2D object proposal and initial 3D bounding box…