相关论文: Pseudo-LiDAR++: Accurate Depth for 3D Object Detec…

3D object detection with a single image is an essential and challenging task for autonomous driving. Recently, keypoint-based monocular 3D object detection has made tremendous progress and achieved great speed-accuracy trade-off. However,…

While short range 3D pedestrian detection is sufficient for emergency breaking, long range detections are required for smooth breaking and gaining trust in autonomous vehicles. The current state-of-the-art on the KITTI benchmark performs…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

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…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

Autonomous driving systems are set to become a reality in transport systems and, so, maximum acceptance is being sought among users. Currently, the most advanced architectures require driver intervention when functional system failures or…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

One of the major open challenges in self-driving cars is the ability to detect cars and pedestrians to safely navigate in the world. Deep learning-based object detector approaches have enabled great advances in using camera imagery to…

Monocular 3D object detection is a challenging task in the self-driving and computer vision community. As a common practice, most previous works use manually annotated 3D box labels, where the annotating process is expensive. In this paper,…

This paper presents a stereo object matching method that exploits both 2D contextual information from images as well as 3D object-level information. Unlike existing stereo matching methods that exclusively focus on the pixel-level…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

Automated driving systems rely on 3D object detectors to recognize possible obstacles from LiDAR point clouds. However, recent works show the adversary can forge non-existent cars in the prediction results with a few fake points (i.e.,…

Accurate depth information is essential for many computer vision applications. Yet, no available dataset recording method allows for fully dense accurate depth estimation in a large scale dynamic environment. In this paper, we introduce…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Monocular 3D object detection offers a low-cost alternative to LiDAR, yet remains less accurate due to the difficulty of estimating metric depth from a single image. We systematically evaluate how depth backbones and feature engineering…

Deep learning has emerged as an effective solution for solving the task of object detection in images but at the cost of requiring large labeled datasets. To mitigate this cost, semi-supervised object detection methods, which consist in…

The proliferation of smartphones and other mobile devices provides a unique opportunity to make Advanced Driver Assistance Systems (ADAS) accessible to everyone in the form of an application empowered by low-cost Machine/Deep Learning…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…