相关论文: Cooperative Perception for 3D Object Detection in …

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

Cooperative perception has been widely used in autonomous driving to alleviate the inherent limitation of single automated vehicle perception. To enable cooperation, vehicle-to-vehicle (V2V) communication plays an indispensable role. This…

To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…

Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…

Autonomous Vehicles (AVs) use multiple sensors to gather information about their surroundings. By sharing sensor data between Connected Autonomous Vehicles (CAVs), the safety and reliability of these vehicles can be improved through a…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

Collaborative perception plays a crucial role in enhancing environmental understanding by expanding the perceptual range and improving robustness against sensor failures, which primarily involves collaborative 3D detection and tracking…

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance,…

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this…

Autonomous vehicles use 3D sensors for perception. Cooperative perception enables vehicles to share sensor readings with each other to improve safety. Prior work in cooperative perception scales poorly even with infrastructure support.…

Perception is one of the crucial module of the autonomous driving system, which has made great progress recently. However, limited ability of individual vehicles results in the bottleneck of improvement of the perception performance. To…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…

With the rapid advancement of hardware and software technologies, research in autonomous driving has seen significant growth. The prevailing framework for multi-sensor autonomous driving encompasses sensor installation, perception, path…