相关论文: Scalable Primitives for Generalized Sensor Fusion …

Multimodal deep sensor fusion has the potential to enable autonomous vehicles to visually understand their surrounding environments in all weather conditions. However, existing deep sensor fusion methods usually employ convoluted…

Scene flow enables an understanding of the motion characteristics of the environment in the 3D world. It gains particular significance in the long-range, where object-based perception methods might fail due to sparse observations far away.…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

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…

Federated learning (FL) enables multiple devices to collaboratively train a global model while maintaining data on local servers. Each device trains the model on its local server and shares only the model updates (i.e., gradient weights)…

Federated learning (FL) is a distributed training paradigm that enables collaborative learning across clients without sharing local data, thereby preserving privacy. However, the increasing scale and complexity of modern deep models often…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Generalizable NeRF aims to synthesize novel views for unseen scenes. Common practices involve constructing variance-based cost volumes for geometry reconstruction and encoding 3D descriptors for decoding novel views. However, existing…

With the rapid advancement of diffusion-based generative models, Stable Diffusion (SD) has emerged as a state-of-the-art framework for high-fidelity im-age synthesis. However, existing SD models suffer from suboptimal feature aggregation,…

Fine-grained image classification has emerged as a significant challenge because objects in such images have small inter-class visual differences but with large variations in pose, lighting, and viewpoints, etc. Most existing work focuses…

Visual recognition inside the vehicle cabin leads to safer driving and more intuitive human-vehicle interaction but such systems face substantial obstacles as they need to capture different granularities of driver behaviour while dealing…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…

Object completion networks typically produce static Signed Distance Fields (SDFs) that faithfully reconstruct geometry but cannot be rescaled or deformed without introducing structural distortions. This limitation restricts their use in…

Given the wide adoption of multimodal sensors (e.g., camera, lidar, radar) by autonomous vehicles (AVs), deep analytics to fuse their outputs for a robust perception become imperative. However, existing fusion methods often make two…

The integration of data from diverse sensor modalities (e.g., camera and LiDAR) constitutes a prevalent methodology within the ambit of autonomous driving scenarios. Recent advancements in efficient point cloud transformers have underscored…