相关论文: A novel multimodal fusion network based on a joint…

LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

Multi-sensor fusion in autonomous vehicles is becoming more common to offer a more robust alternative for several perception tasks. This need arises from the unique contribution of each sensor in collecting data: camera-radar fusion offers…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

Beam selection for millimeter-wave links in a vehicular scenario is a challenging problem, as an exhaustive search among all candidate beam pairs cannot be assuredly completed within short contact times. We solve this problem via a novel…

The use of multimodal imaging has led to significant improvements in the diagnosis and treatment of many diseases. Similar to clinical practice, some works have demonstrated the benefits of multimodal fusion for automatic segmentation and…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

Multi-sensor fusion-based road segmentation plays an important role in the intelligent driving system since it provides a drivable area. The existing mainstream fusion method is mainly to feature fusion in the image space domain which…

Lane detection is one of the most important functions for autonomous driving. In recent years, deep learning-based lane detection networks with RGB camera images have shown promising performance. However, camera-based methods are inherently…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…