相关论文: Sensor Adversarial Traits: Analyzing Robustness of…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS,…

Adversarial robustness of BEV 3D object detectors is critical for autonomous driving (AD). Existing invasive attacks require altering the target vehicle itself (e.g. attaching patches), making them unrealistic and impractical for real-world…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

In this survey, we first introduce the background of popular sensors used for self-driving, their data properties, and the corresponding object detection algorithms. Next, we discuss existing datasets that can be used for evaluating…

In Autonomous Driving (AD) systems, perception is both security and safety critical. Despite various prior studies on its security issues, all of them only consider attacks on camera- or LiDAR-based AD perception alone. However, production…

In recent years, multi-modal fusion has attracted a lot of research interest, both in academia, and in industry. Multimodal fusion entails the combination of information from a set of different types of sensors. Exploiting complementary…

Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…

Perception plays a pivotal role in autonomous driving systems, which utilizes onboard sensors like cameras and LiDARs (Light Detection and Ranging) to assess surroundings. Recent studies have demonstrated that LiDAR-based perception is…

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…

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…

Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Transformers-based detection head and CNN-based feature encoder to extract features from raw sensor-data has emerged as one of the best…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

Benefiting from the rapid development of deep learning, 2D and 3D computer vision applications are deployed in many safe-critical systems, such as autopilot and identity authentication. However, deep learning models are not trustworthy…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

Accurate 3D person detection is critical for safety in applications such as robotics, industrial monitoring, and surveillance. This work presents a systematic evaluation of 3D person detection using camera-only, LiDAR-only, and camera-LiDAR…

Multimodal sensor fusion is an essential capability for autonomous robots, enabling object detection and decision-making in the presence of failing or uncertain inputs. While recent fusion methods excel in normal environmental conditions,…

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…