相关论文: Dense Voxel Fusion for 3D Object Detection

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

We present Voxel Transformer (VoTr), a novel and effective voxel-based Transformer backbone for 3D object detection from point clouds. Conventional 3D convolutional backbones in voxel-based 3D detectors cannot efficiently capture large…

Also recently, exciting strides forward have been made in the area of image restoration, particularly for image denoising and single image super-resolution. Deep learning techniques contributed to this significantly. The top methods differ…

Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud…

Multi-modal fusion has emerged as a promising paradigm for accurate 3D object detection. However, performance degrades substantially when deployed in target domains different from training. In this work, focusing on dual-branch…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Current multispectral object detection methods often retain extraneous background or noise during feature fusion, limiting perceptual performance. To address this, we propose an innovative feature fusion framework based on cross-modal…

To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…

We propose Radar-Camera fusion transformer (RaCFormer) to boost the accuracy of 3D object detection by the following insight. The Radar-Camera fusion in outdoor 3D scene perception is capped by the image-to-BEV transformation--if the depth…

In this work, we present a unified framework for multi-modality 3D object detection, named UVTR. The proposed method aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

The goal of multi-modal learning is to use complimentary information on the relevant task provided by the multiple modalities to achieve reliable and robust performance. Recently, deep learning has led significant improvement in multi-modal…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Recent studies in 3D object detection for autonomous vehicles aim to enrich features through the utilization of multi-modal setups or the extraction of local patterns within LiDAR point clouds. However, multi-modal methods face significant…

Multi-focus image fusion (MFIF) addresses the depth-of-field (DOF) limitations of optical lenses, where only objects within a specific range appear sharp. Although traditional and deep learning methods have advanced the field, challenges…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…