相关论文: Object Removal Attacks on LiDAR-based 3D Object De…

On-board 3D object detection in autonomous vehicles often relies on geometry information captured by LiDAR devices. Albeit image features are typically preferred for detection, numerous approaches take only spatial data as input. Exploiting…

Out-of-distribution (OOD) detection is a critical requirement for reliable autonomous driving, where safety depends on recognizing road obstacles and unexpected objects beyond the training distribution. Despite extensive research on OOD…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

In automated driving, object detection is crucial for perceiving the environment. Although deep learning-based detectors offer high performance, their black-box nature complicates safety assurance. We propose a novel methodology to analyze…

Recent studies revealed that deep neural networks (DNNs) are exposed to backdoor threats when training with third-party resources (such as training samples or backbones). The backdoored model has promising performance in predicting benign…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

Autonomous systems rely on accurate 3D object detection from LiDAR data, yet most detectors are limited to a predefined set of known classes, making them vulnerable to unexpected out-of-distribution (OOD) objects. In this work, we present…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

Object detection in autonomous driving applications implies that the detection and tracking of semantic objects are commonly native to urban driving environments, as pedestrians and vehicles. One of the major challenges in state-of-the-art…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

The widespread use of deep learning technology across various industries has made deep neural network models highly valuable and, as a result, attractive targets for potential attackers. Model extraction attacks, particularly query-based…

In this paper, we address the limitations of traditional constant false alarm rate (CFAR) target detectors in automotive radars, particularly in complex urban environments with multiple objects that appear as extended targets. We propose a…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Detecting moving objects in dynamic scenes from sequences of lidar scans is an important task in object tracking, mapping, localization, and navigation. Many works focus on changes detection in previously observed scenes, while a very…

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding. Recent advances on monocular 3D object…

Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…