相关论文: AutoAlign: Pixel-Instance Feature Aggregation for …

Existing point-cloud based 3D object detectors use convolution-like operators to process information in a local neighbourhood with fixed-weight kernels and aggregate global context hierarchically. However, non-local neural networks and…

3D object detection is still an open problem in autonomous driving scenes. When recognizing and localizing key objects from sparse 3D inputs, autonomous vehicles suffer from a larger continuous searching space and higher fore-background…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

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…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

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…

Multimodal 3D object detection based on deep neural networks has indeed made significant progress. However, it still faces challenges due to the misalignment of scale and spatial information between features extracted from 2D images and…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

Accurate and robust object detection is critical for autonomous driving. Image-based detectors face difficulties caused by low visibility in adverse weather conditions. Thus, radar-camera fusion is of particular interest but presents…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

Accurately detecting objects in the environment is a key challenge for autonomous vehicles. However, obtaining annotated data for detection is expensive and time-consuming. We introduce PatchContrast, a novel self-supervised point cloud…

We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Augmenting LiDAR input with multiple previous frames provides richer semantic information and thus boosts performance in 3D object detection, However, crowded point clouds in multi-frames can hurt the precise position information due to the…

In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…