相关论文: Sparse LiDAR and Stereo Fusion (SLS-Fusion) for De…

Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…

In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…

Accurate 3D object detection in autonomous driving is critical yet challenging due to occlusions, varying object sizes, and complex urban environments. This paper introduces the KAN-RCBEVDepth method, an innovative approach aimed at…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In…

Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual features, and extracted LiDAR points. In particular, the proposed…

In autonomous driving, LiDAR and radar are crucial for environmental perception. LiDAR offers precise 3D spatial sensing information but struggles in adverse weather like fog. Conversely, radar signals can penetrate rain or mist due to…

With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complementary semantic and depth information, are the typical choices…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

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…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Cooperative perception via communication among intelligent traffic agents has great potential to improve the safety of autonomous driving. However, limited communication bandwidth, localization errors and asynchronized capturing time of…

4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Sensor fusion is critical to perception systems for task domains such as autonomous driving and robotics. Recently, the Transformer integrated with CNN has demonstrated high performance in sensor fusion for various perception tasks. In this…

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,…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…