相关论文: FUTR3D: A Unified Sensor Fusion Framework for 3D D…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

In this technical study, we introduce VFusedSeg3D, an innovative multi-modal fusion system created by the VisionRD team that combines camera and LiDAR data to significantly enhance the accuracy of 3D perception. VFusedSeg3D uses the rich…

How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…

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…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

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…

Multi-modal 3D object detection models for automated driving have demonstrated exceptional performance on computer vision benchmarks like nuScenes. However, their reliance on densely sampled LiDAR point clouds and meticulously calibrated…

Camera-only 3D object detection is critical for autonomous driving, offering a cost-effective alternative to LiDAR based methods. In particular, multi-view 3D object detection has emerged as a promising direction due to its balanced…

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented…

Sensor fusion is a crucial augmentation technique for improving the accuracy and reliability of perception systems for automated vehicles under diverse driving conditions. However, adverse weather and low-light conditions remain…

Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…