相关论文: Interactive Multi-scale Fusion of 2D and 3D Featur…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

3D single object tracking plays a crucial role in computer vision. Mainstream methods mainly rely on point clouds to achieve geometry matching between target template and search area. However, textureless and incomplete point clouds make it…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

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…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

Multi-object tracking (MOT) is a fundamental task in computer vision with critical applications in autonomous driving and robotics. Multimodal MOT that integrates visible light and thermal infrared information is particularly essential for…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

Object detection has been extensively utilized in autonomous systems in recent years, encompassing both 2D and 3D object detection. Recent research in this field has primarily centered around multimodal approaches for addressing this…

Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

3D multi-object tracking (MOT) is essential for an autonomous mobile agent to safely navigate a scene. In order to maximize the perception capabilities of the autonomous agent, we aim to develop a 3D MOT framework that fuses camera and…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Multi-modal fusion is increasingly being used for autonomous driving tasks, as different modalities provide unique information for feature extraction. However, the existing two-stream networks are only fused at a specific network layer,…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…