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

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

There has recently been growing interest in utilizing multimodal sensors to achieve robust lane line segmentation. In this paper, we introduce a novel multimodal fusion architecture from an information theory perspective, and demonstrate…

Multi-modal fusion methods often suffer from two types of representation collapse: feature collapse where individual dimensions lose their discriminative power (as measured by eigenspectra), and modality collapse where one dominant modality…

We propose a 3D multi-object tracking (MOT) solution using only 2D detections from monocular cameras, which automatically initiates/terminates tracks as well as resolves track appearance-reappearance and occlusions. Moreover, this approach…

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…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Modern online multiple object tracking (MOT) methods usually focus on two directions to improve tracking performance. One is to predict new positions in an incoming frame based on tracking information from previous frames, and the other is…

In this paper, we propose a highly practical fully online multi-object tracking and segmentation (MOTS) method that uses instance segmentation results as an input. The proposed method is based on the Gaussian mixture probability hypothesis…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

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…

Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor…

3D multi-object tracking (MOT) is essential to applications such as autonomous driving. Recent work focuses on developing accurate systems giving less attention to computational cost and system complexity. In contrast, this work proposes a…

Infrared and visible image fusion targets to provide an informative image by combining complementary information from different sensors. Existing learning-based fusion approaches attempt to construct various loss functions to preserve…

Current 3D single object tracking approaches track the target based on a feature comparison between the target template and the search area. However, due to the common occlusion in LiDAR scans, it is non-trivial to conduct accurate feature…

We present a Multimodal Interlaced Transformer (MIT) that jointly considers 2D and 3D data for weakly supervised point cloud segmentation. Research studies have shown that 2D and 3D features are complementary for point cloud segmentation.…

Most existing multimodal trackers adopt uniform fusion strategies, overlooking the inherent differences between modalities. Moreover, they propagate temporal information through mixed tokens, leading to entangled and less discriminative…

Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…