相关论文: Faraway-Frustum: Dealing with Lidar Sparsity for 3…

Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…

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,…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

To address the issues of the existing frustum-based methods' underutilization of image information in road three-dimensional object detection as well as the lack of research on agricultural scenes, we constructed an object detection dataset…

In this work we propose 3D-FFS, a novel approach to make sensor fusion based 3D object detection networks significantly faster using a class of computationally inexpensive heuristics. Existing sensor fusion based networks generate 3D region…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…

We propose a late-to-early recurrent feature fusion scheme for 3D object detection using temporal LiDAR point clouds. Our main motivation is fusing object-aware latent embeddings into the early stages of a 3D object detector. This feature…

This paper tackles the 3D object detection problem, which is of vital importance for applications such as autonomous driving. Our framework uses a Machine Learning (ML) pipeline on a combination of monocular camera and LiDAR data to detect…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Reliable 3D object perception is essential in autonomous driving. Owing to its sensing capabilities in all weather conditions, 4D radar has recently received much attention. However, compared to LiDAR, 4D radar provides much sparser point…

3D object detection is essential for autonomous driving. As an emerging sensor, 4D imaging radar offers advantages as low cost, long-range detection, and accurate velocity measurement, making it highly suitable for object detection.…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

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…

As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object detectors often build dense feature maps, where the cost is…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…