相关论文: Progressive LiDAR Adaptation for Road Detection

Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

The rapid evolution of deep learning and its integration with autonomous driving systems have led to substantial advancements in 3D perception using multimodal sensors. Notably, radar sensors show greater robustness compared to cameras and…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

In autonomous driving, LiDAR and radar are crucial for environmental perception. LiDAR offers precise 3D spatial sensing information but struggles in adverse weather like fog. Conversely, radar signals can penetrate rain or mist due to…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

License plate detection and recognition (LPDR) is of growing importance for enabling intelligent transportation and ensuring the security and safety of the cities. However, LPDR faces a big challenge in a practical environment. The license…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

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…

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…

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…

Autonomous Vehicles (AVs) increasingly use LiDAR-based object detection systems to perceive other vehicles and pedestrians on the road. While existing attacks on LiDAR-based autonomous driving architectures focus on lowering the confidence…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

With the rapid development of intelligent detection algorithms based on deep learning, much progress has been made in automatic road defect recognition and road marking parsing. This can effectively address the issue of an expensive and…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

The perception of autonomous vehicles has to be efficient, robust, and cost-effective. However, cameras are not robust against severe weather conditions, lidar sensors are expensive, and the performance of radar-based perception is still…

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…