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

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard tracking-by-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix.…

Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…

Effective point cloud processing is crucial to LiDARbased autonomous driving systems. The capability to understand features at multiple scales is required for object detection of intelligent vehicles, where road users may appear in…

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…

3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…

Multi-modal 3D object detection has received growing attention as the information from different sensors like LiDAR and cameras are complementary. Most fusion methods for 3D detection rely on an accurate alignment and calibration between 3D…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

3D Multi-Object Tracking (MOT) provides the trajectories of surrounding objects, assisting robots or vehicles in smarter path planning and obstacle avoidance. Existing 3D MOT methods based on the Tracking-by-Detection framework typically…

Vehicle location prediction or vehicle tracking is a significant topic within connected vehicles. This task, however, is difficult if only a single modal data is available, probably causing bias and impeding the accuracy. With the…

We propose a new method for fusing a LIDAR point cloud and camera-captured images in the deep convolutional neural network (CNN). The proposed method constructs a new layer called non-homogeneous pooling layer to transform features between…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

Recently, multi-modality scene perception tasks, e.g., image fusion and scene understanding, have attracted widespread attention for intelligent vision systems. However, early efforts always consider boosting a single task unilaterally and…

We propose a data-driven approach to online multi-object tracking (MOT) that uses a convolutional neural network (CNN) for data association in a tracking-by-detection framework. The problem of multi-target tracking aims to assign noisy…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…

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…

Data association-based multiple object tracking (MOT) involves multiple separated modules processed or optimized differently, which results in complex method design and requires non-trivial tuning of parameters. In this paper, we present an…

3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work often uses a tracking-by-detection pipeline, where the feature of each object is extracted independently to compute an affinity matrix. Then, the affinity matrix…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…