相关论文: Multi-Task Multi-Sensor Fusion for 3D Object Detec…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Existing multi-modal 3D detection models usually involve customized designs depending on the sensor combinations or setups. In this…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

Simultaneous perception of 2D objects in perspective view and 3D objects in Bird's Eye View (BEV) is challenging for multi-camera autonomous driving. Existing two-stage pipelines use 2D results only as a one-time cue for 3D detection. We…

Multi-task visual perception has a wide range of applications in scene understanding such as autonomous driving. In this work, we devise an efficient unified framework to solve multiple common perception tasks, including instance…

Accurate and reliable tracking of multiple moving objects in 3D space is an essential component of urban scene understanding. This is a challenging task because it requires the assignment of detections in the current frame to the predicted…

3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…

LiDAR sensors can be used to obtain a wide range of measurement signals other than a simple 3D point cloud, and those signals can be leveraged to improve perception tasks like 3D object detection. A single laser pulse can be partially…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

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…

Three-dimensional Object Detection from multi-view cameras and LiDAR is a crucial component for autonomous driving and smart transportation. However, in the process of basic feature extraction, perspective transformation, and feature…

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…

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…